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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.

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