vehicle_cmd_gate

Purpose

vehicle_cmd_gate is the package to get information from emergency handler, planning module, external controller, and send a msg to vehicle.

Inputs / Outputs

Input

Name	Type	Description
~/input/steering	autoware_auto_vehicle_msgs::msg::SteeringReport	steering status
~/input/auto/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity from planning module
~/input/auto/turn_indicators_cmd	autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand	turn indicators command from planning module
~/input/auto/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command from planning module
~/input/auto/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command from planning module
~/input/external/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity from external
~/input/external/turn_indicators_cmd	autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand	turn indicators command from external
~/input/external/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command from external
~/input/external/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command from external
~/input/external_emergency_stop_heartbeat	tier4_external_api_msgs::msg::Heartbeat	heartbeat
~/input/gate_mode	tier4_control_msgs::msg::GateMode	gate mode (AUTO or EXTERNAL)
~/input/emergency_state	autoware_auto_system_msgs::msg::EmergencyState	used to detect the emergency situation of the vehicle
~/input/emergency/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity from emergency handler
~/input/emergency/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command from emergency handler
~/input/emergency/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command from emergency handler
~/input/engage	autoware_auto_vehicle_msgs::msg::Engage	engage signal

Output

Name	Type	Description
~/output/vehicle_cmd_emergency	autoware_auto_system_msgs::msg::EmergencyState	emergency state which was originally in vehicle command
~/output/command/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	command for lateral and longitudinal velocity to vehicle
~/output/command/turn_indicators_cmd	autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand	turn indicators command to vehicle
~/output/command/hazard_lights_cmd	autoware_auto_vehicle_msgs::msg::HazardLightsCommand	hazard lights command to vehicle
~/output/command/gear_cmd	autoware_auto_vehicle_msgs::msg::GearCommand	gear command to vehicle
~/output/gate_mode	tier4_control_msgs::msg::GateMode	gate mode (AUTO or EXTERNAL)
~/output/engage	autoware_auto_vehicle_msgs::msg::Engage	engage signal
~/output/external_emergency	tier4_external_api_msgs::msg::Emergency	external emergency signal

Parameters

Parameter	Type	Description
update_period	double	update period
use_emergency_handling	bool	true when emergency handler is used
use_external_emergency_stop	bool	true when external emergency stop information is used
system_emergency_heartbeat_timeout	double	timeout for system emergency
external_emergency_stop_heartbeat_timeout	double	timeout for external emergency
stop_hold_acceleration	double	longitudinal acceleration cmd when vehicle should stop
emergency_acceleration	double	longitudinal acceleration cmd when vehicle stop with emergency
vel_lim	double	limit of longitudinal velocity
lon_acc_lim	double	limit of longitudinal acceleration
lon_jerk_lim	double	limit of longitudinal jerk
lat_acc_lim	double	limit of lateral acceleration
lat_jerk_lim	double	limit of lateral jerk

Assumptions / Known limits

TBD.