Vehicle Info Util

Purpose

This package is to get vehicle info parameters.

Description

In here, you can check the vehicle dimensions with more detail. The current format supports only the Ackermann model. This file defines the model assumed in autoware path planning, control, etc. and does not represent the exact physical model. If a model other than the Ackermann model is used, it is assumed that a vehicle interface will be designed to change the control output for the model.

Versioning Policy

We have implemented a versioning system for the vehicle_info.param.yaml file to ensure clarity and consistency in file format across different versions of Autoware and its external applications. Please see discussion for the details.

How to Operate

• The current file format is set as an unversioned base version (version: field is commented out).
• For the next update involving changes (such as additions, deletions, or modifications):
  • Uncomment and update the version line at the beginning of the file.
  • Initiate versioning by assigning a version number, starting from 0.1.0. Follow the semantic versioning format (MAJOR.MINOR.PATCH).
  • Update this Readme.md too.
• For subsequent updates, continue incrementing the version number in accordance with the changes made.
  • Discuss how to increment version depending on the amount of changes made to the file.

/**:
  ros__parameters:
    # version: 0.1.0 # Uncomment and update this line for future format changes.
    wheel_radius: 0.383
    ...

Why Versioning?

• Consistency Across Updates: Implementing version control will allow accurate tracking of changes over time and changes in vehicle information parameters.
• Clarity for External Applications: External applications that depend on vehicle_info.param.yaml need to reference the correct file version for optimal compatibility and functionality.
• Simplified Management for Customized Branches: Assigning versions directly to the vehicle_info.param.yaml file simplifies management compared to maintaining separate versions for multiple customized Autoware branches. This approach streamlines version tracking and reduces complexity.

Scripts

Minimum turning radius

$ ros2 run autoware_vehicle_info_utils min_turning_radius_calculator.py
yaml path is /home/autoware/pilot-auto/install/autoware_vehicle_info_utils/share/autoware_vehicle_info_utils/config/vehicle_info.param.yaml
Minimum turning radius is 3.253042620027102 [m] for rear, 4.253220695862465 [m] for front.

You can designate yaml file with -y option as follows.

ros2 run autoware_vehicle_info_utils min_turning_radius_calculator.py -y <path-to-yaml>

Assumptions / Known limits

TBD.

Changelog for package autoware_vehicle_info_utils

1.1.0 (2025-05-01)

• refactor(autoware_vehicle_info_utils): rewrite using modern C++ without API breakage (#343)
• Contributors: Yutaka Kondo

1.9.0 (2026-06-24)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• test(autoware_vehicle_info_utils): cover pure paths and reuse get_or_declare_parameter (#1105)

  * test(autoware_vehicle_info_utils): cover pure paths and reuse get_or_declare_parameter Add no-ROS unit tests for the pure VehicleInfo helpers that were previously untested: createVehicleInfo's wheel_base/max_steer clamping and has_non_positive_values branches, calcMaxMinDimension's two branches, extendVehicleInfo's margin distribution, the full 5-margin createFootprint overload (asymmetric margins plus center_at_base_link, asserting all seven ring points), and calcCurvatureFromSteerAngle's NaN guard. These run directly against the free functions / VehicleInfo methods without rclcpp. Replace the file-local getParameter<T> helper in VehicleInfoUtils with autoware_utils_rclcpp::get_or_declare_parameter<T>, which has identical has_parameter/get/declare semantics, and add the autoware_utils_rclcpp dependency. The throwing behavior on a parameter type mismatch is preserved (declare_parameter still throws); only the redundant local RCLCPP_ERROR log line on that path is dropped. No public API change. Refs: autowarefoundation/autoware_core#1096

  * test(autoware_vehicle_info_utils): de-tautologize vehicle_info test oracles (#79) Replace expected values that mirrored the implementation's formula or were read back from the output fields under test with independently hand-computed concrete literals (or stdlib-only computations in the std::hypot style). This makes the assertions verify the calculation instead of re-deriving the same potentially-wrong value. Refs: autowarefoundation/autoware_core#1096

  * test(autoware_vehicle_info_utils): use independent oracles for derived-value asserts (#86) Replace test expected values that mirrored the implementation's own formulas with concrete, independently hand-computed literals so the assertions can no longer pass on a wrong production calculation.

  - extendVehicleInfo: assert hardcoded 4.4 / 2.4 / 1.2 instead of reconstructing 'length + margin' / 'base2back + margin / 2'.

  - calcMaxMinDimension branch guards: drop the ASSERTs that recomputed base2front from the output fields; the branch is fixed by the test-chosen inputs and documented in comments. std::hypot-style expected values (inputs picked by the test, stdlib as the only shared dependency) and the existing hardcoded literals are kept. No production code changed. Refs: autowarefoundation/autoware_core#1096 ---------

• feat(vehicle_info_utils): adjust [VehicleInfo]{.title-ref} to cover [VehicleShape]{.title-ref} (#1083)

  • add function to help replacing VehicleShape

  * remove defaulted function ---------Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• feat(autoware_vehicle_info_utils): add base_pose to createFootprint (#1072)

• Contributors: Sarun MUKDAPITAK, Yutaka Kondo, github-actions

1.8.0 (2026-05-01)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• refactor(autoware_core): add USE_SCOPED_HEADER_INSTALL_DIR to common and testing packages (#967) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>
• Contributors: Vishal Chauhan, github-actions

1.7.0 (2026-02-14)

1.6.0 (2025-12-30)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• docs: fix broken links (#779)

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