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.

Changelog for package autoware_control_msgs

1.2.0 (2024-10-01)

1.1.0 (2024-05-10)

• chore: update [package.xml]{.title-ref} and fix [CMakeLists.txt]{.title-ref} (#91) update package.xml and fix cmakefiles
• feat(control-messages): add control messages (#11)
• Contributors: M. Fatih Cırıt, Yutaka Kondo