goal_distance_calculator

Purpose

This node publishes deviation of self-pose from goal pose.

Inner-workings / Algorithms

Inputs / Outputs

Input

Name	Type	Description
/planning/mission_planning/route	autoware_auto_planning_msgs::msg::Route	Used to get goal pose
/tf	tf2_msgs/TFMessage	TF (self-pose)

Output

Name	Type	Description
deviation/lateral	tier4_debug_msgs::msg::Float64Stamped	publish lateral deviation of self-pose from goal pose[m]
deviation/longitudinal	tier4_debug_msgs::msg::Float64Stamped	publish longitudinal deviation of self-pose from goal pose[m]
deviation/yaw	tier4_debug_msgs::msg::Float64Stamped	publish yaw deviation of self-pose from goal pose[rad]
deviation/yaw_deg	tier4_debug_msgs::msg::Float64Stamped	publish yaw deviation of self-pose from goal pose[deg]

Parameters

Node Parameters

Name	Type	Default Value	Explanation
update_rate	double	10.0	Timer callback period. [Hz]

Core Parameters

Name	Type	Default Value	Explanation
oneshot	bool	true	publish deviations just once or repeatedly

Assumptions / Known limits

TBD.