joy_controller

Role

joy_controller is the package to convert a joy msg to autoware commands (e.g. steering wheel, shift, turn signal, engage) for a vehicle.

Input / Output

Input topics

Name	Type	Description
~/input/joy	sensor_msgs::msg::Joy	joy controller command
~/input/odometry	nav_msgs::msg::Odometry	ego vehicle odometry to get twist

Output topics

Name	Type	Description
~/output/control_command	autoware_auto_control_msgs::msg::AckermannControlCommand	lateral and longitudinal control command
~/output/external_control_command	tier4_external_api_msgs::msg::ControlCommandStamped	lateral and longitudinal control command
~/output/shift	tier4_external_api_msgs::msg::GearShiftStamped	gear command
~/output/turn_signal	tier4_external_api_msgs::msg::TurnSignalStamped	turn signal command
~/output/gate_mode	tier4_control_msgs::msg::GateMode	gate mode (Auto or External)
~/output/heartbeat	tier4_external_api_msgs::msg::Heartbeat	heartbeat
~/output/vehicle_engage	autoware_auto_vehicle_msgs::msg::Engage	vehicle engage

Parameters

Parameter	Type	Description
joy_type	string	joy controller type (default: DS4)
update_rate	double	update rate to publish control commands
accel_ratio	double	ratio to calculate acceleration (commanded acceleration is ratio * operation)
brake_ratio	double	ratio to calculate deceleration (commanded acceleration is -ratio * operation)
steer_ratio	double	ratio to calculate deceleration (commanded steer is ratio * operation)
steering_angle_velocity	double	steering angle velocity for operation
accel_sensitivity	double	sensitivity to calculate acceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))
brake_sensitivity	double	sensitivity to calculate deceleration for external API (commanded acceleration is pow(operation, 1 / sensitivity))
velocity_gain	double	ratio to calculate velocity by acceleration
max_forward_velocity	double	absolute max velocity to go forward
max_backward_velocity	double	absolute max velocity to go backward
backward_accel_ratio	double	ratio to calculate deceleration (commanded acceleration is -ratio * operation)