web_controller#
Purpose#
This packages is for visualizing the status of Autoware and sending topics for Autoware from a web page.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
/control/current_gate_mode |
tier4_control_msgs::msg::GateMode |
Gate mode (AUTO or EXTERNAL) |
/autoware/state |
autoware_auto_system_msgs::msg::AutowareState |
State of Autoware |
/autoware/engage |
autoware_auto_system_msgs::msg::Engage |
Engage signal for Autoware |
/vehicle/engage |
autoware_auto_system_msgs::msg::Engage |
Engage signal for a vehicle |
/planning/scenario_planning/max_velocity_default |
tier4_planning_msgs::msg::VelocityLimit |
Max velocity of Autoware |
Output#
| Name | Type | Description |
|---|---|---|
/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/path_change_approval |
tier4_planning_msgs::msg::Approval |
Send an approval signal for path change request such as lane change or obstacle avoidance |
/autoware/engage |
autoware_auto_system_msgs::msg::Engage |
Send an engage signal for Autoware |
/vehicle/engage |
autoware_auto_system_msgs::msg::Engage |
Send an engage signal for a vehicle |
/planning/scenario_planning/max_velocity_default |
tier4_planning_msgs::msg::VelocityLimit |
Set a max velocity of Autoware |
Parameter#
Core Parameters#
None
Assumptions / Known limits#
TBD.
Usage#
- Access to http://localhost:8085/web_controller after launching Autoware.
- Check the status of Autoware or send topics by the buttons.