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Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ieiauto/autodrrt.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2024-09-19 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The raw_vehicle_cmd_converter package
Additional Links
No additional links.
Maintainers
- Takamasa Horibe
- Tanaka Taiki
- Makoto Kurihara
Authors
- Makoto Kurihara
- Takamasa Horibe
- Tanaka Taiki
raw_vehicle_cmd_converter
raw_vehicle_command_converter
is a node that converts desired acceleration and velocity to mechanical input by using feed forward + feed back control (optional).
Input topics
Name | Type | Description |
---|---|---|
~/input/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand | target velocity/acceleration/steering_angle/steering_angle_velocity is necessary to calculate actuation command. |
~/input/steering" |
autoware_auto_vehicle_msgs::SteeringReport | current status of steering used for steering feed back control |
~/input/twist |
navigation_msgs::Odometry | twist topic in odometry is used. |
Output topics
Name | Type | Description |
---|---|---|
~/output/actuation_cmd |
tier4_vehicle_msgs::msg::ActuationCommandStamped | actuation command for vehicle to apply mechanical input |
Parameters
{{ json_to_markdown(“vehicle/raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json”) }}
Limitation
The current feed back implementation is only applied to steering control.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
- launch/raw_vehicle_converter.launch.xml
-
- input_control_cmd [default: /control/command/control_cmd]
- input_odometry [default: /localization/kinematic_state]
- input_steering [default: /vehicle/status/steering_status]
- output_actuation_cmd [default: /control/command/actuation_cmd]
- config_file [default: $(find-pkg-share raw_vehicle_cmd_converter)/config/raw_vehicle_cmd_converter.param.yaml]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged raw_vehicle_cmd_converter at Robotics Stack Exchange
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