raw_vehicle_cmd_converter

raw_vehicle_command_converter is a node that converts desired acceleration and velocity to mechanical input by using feed forward + feed back control (optional).

Input topics

Name	Type	Description
~/input/control_cmd	autoware_auto_control_msgs::msg::AckermannControlCommand	target velocity/acceleration/steering_angle/steering_angle_velocity is necessary to calculate actuation command.
~/input/steering"	autoware_auto_vehicle_msgs::SteeringReport	current status of steering used for steering feed back control
~/input/twist	navigation_msgs::Odometry	twist topic in odometry is used.

Output topics

Name	Type	Description
~/output/actuation_cmd	tier4_vehicle_msgs::msg::ActuationCommandStamped	actuation command for vehicle to apply mechanical input

Parameters

Parameter	Type	Description
update_rate	double	timer's update rate
th_max_message_delay_sec	double	threshold time of input messages' maximum delay
th_arrived_distance_m	double	threshold distance to check if vehicle has arrived at the trajectory's endpoint
th_stopped_time_sec	double	threshold time to check if vehicle is stopped
th_stopped_velocity_mps	double	threshold velocity to check if vehicle is stopped

Limitation

The current feed back implementation is only applied to steering control.