autoware_control_msgs

Autoware control messages package.

README

autoware_control_msgs

Design

Vehicle dimensions and axes: https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions/

Lateral.msg

Defines a lateral control command message with a timestamp.

The message conveys the expectation for vehicle’s lateral state to be in the given configuration in the time point: control_time.

  • The field steering_tire_angle is required.

  • The field steering_tire_rotation_rate is optional but may be required by some nodes.

    • If this field is used, is_defined_steering_tire_rotation_rate must be set true.

Longitudinal.msg

Defines a longitudinal control command message with a timestamp.

The message conveys the expectation for vehicle’s longitudinal state to be in the given configuration in the time point: control_time.

  • The field velocity is required.

  • The field acceleration is optional but may be required by some nodes.

    • If this field is used, is_defined_acceleration must be set true.

  • The field jerk is optional but may be required by some nodes.

    • If this field is used, is_defined_jerk must be set true.

Control.msg

Defines a control command message, combining Lateral.msg and Longitudinal.msg.

The message conveys the expectation for vehicle’s combined control state to be in the given configuration in the time point: control_time.

If the control_time is defined, the control_time field in the lateral and longitudinal fields are ignored.

ControlHorizon.msg

Defines a control commands array calculated for a future horizon.

  • Control messages are ordered from near to far future [0 to N) with time_step_ms increments.

  • First element of the array contains the control signals at the control_time of this message.

  • The control_time field in each element of the controls array can be ignored.