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external_cmd_converter#

external_cmd_converter is a node that converts desired mechanical input to acceleration and velocity by using accel/brake map.

Input topics#

Name Type Description
~/in/external_control_cmd tier4_external_api_msgs::msg::ControlCommand target throttle/brake/steering_angle/steering_angle_velocity is necessary to calculate desired control command.
~/input/shift_cmd" autoware_auto_vehicle_msgs::GearCommand current command of gear.
~/input/emergency_stop tier4_external_api_msgs::msg::Heartbeat emergency heart beat for external command.
~/input/current_gate_mode tier4_control_msgs::msg::GateMode topic for gate mode.
~/input/odometry navigation_msgs::Odometry twist topic in odometry is used.

Output topics#

Name Type Description
~/out/control_cmd autoware_auto_control_msgs::msg::AckermannControlCommand ackermann control command converted from selected external command

Parameters#

Parameter Type Description
timer_rate double timer's update rate
wait_for_first_topic double if time out check is done after receiving first topic
control_command_timeout double time out check for control command
emergency_stop_timeout double time out check for emergency stop command

Limitation#

tbd.

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