autoware_vehicle_msgs

ActuationCommand.msg

Defines an actuator-level command for the vehicle.

This message sits below autoware_control_msgs/Control.msg in the control stack.

• Control.msg expresses the desired physical state of the vehicle (target steering tire angle, target velocity / acceleration). It is vehicle-independent.
• ActuationCommand.msg expresses commands to the actuators themselves (throttle pedal, brake pedal, steering input). Its meaning depends on how the vehicle interface is configured.

The typical producer is autoware_raw_vehicle_cmd_converter, which converts a Control command into actuator-level signals using the vehicle’s accel / brake / steer maps. The typical consumer is the vehicle interface that forwards these signals to the vehicle CAN bus or to a simulator.

Fields:

Note that for brake_cmd, the command itself is positive while the resulting deceleration is negative.

steer_cmd modes:

For all three fields, the canonical contract is whatever the vehicle’s actuation maps and parameters define. A different vehicle interface (CARLA, AWSIM, a real CAN driver) can use different ranges or scaling.

ActuationCommandStamped.msg

Wraps ActuationCommand with a std_msgs/Header, typically containing the time at which the command was issued. The frame_id is not used.

ActuationReport.msg

Defines the actual actuator state reported back by the vehicle, mirroring ActuationCommand.

Producers: the vehicle interface (real or simulated). Consumers: tools that need to know what the vehicle is actually doing at the actuator level, such as autoware_accel_brake_map_calibrator.

Fields use the same units, sign conventions, and modes as ActuationCommand:

• accel_report: Throttle pedal command the vehicle is currently applying (vehicle-defined scale).
• brake_report: Brake pedal command the vehicle is currently applying (vehicle-defined scale).
• steer_report: Steering actuation signal the vehicle is currently applying. Same mode-dependent semantics as steer_cmd.

ActuationReportStamped.msg

Wraps ActuationReport with a std_msgs/Header carrying the report’s timestamp.

Changelog for package autoware_vehicle_msgs

1.13.0 (2026-05-20)

• feat([autoware_vehicle_msgs]{.title-ref}): port actuation command/status messages from [tier4_vehicle_msgs]{.title-ref} (#165)

  • feat([autoware_vehicle_msgs]{.title-ref}): add actuation command/status messages
  • rename: [[accel,brake,steer]_status]{.title-ref} to [[accel,brake,steer]_report]{.title-ref}
  • Apply the following review comment
  • https://github.com/autowarefoundation/autoware_msgs/pull/165#discussion_r3172838038
  • rename: [ActuationStatus.msg]{.title-ref} -> [ActuationReport.msg]{.title-ref}
  • Apply the following review comment
  • https://github.com/autowarefoundation/autoware_msgs/pull/165#discussion_r3172838038

  * docs(autoware_vehicle_msgs): add README describing actuation messages Documents ActuationCommand / ActuationCommandStamped / ActuationReport / ActuationReportStamped, including the relationship to autoware_control_msgs/Control.msg, per-field ranges and units, and the three steer_cmd modes selected by convert_steer_cmd_method.

  * refactor: make field name explicit ([status]{.title-ref} => [actuation_report]{.title-ref}) Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

  * refactor: make field name explicit ([actuation]{.title-ref} => [actuation_command]{.title-ref}) Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

  • bug: fix format violation (details below)
  • The format is defined in the following official page
  • https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/message-guidelines/#format
  • fix: [README.md]{.title-ref}, based on the information below
  • https://autowarefoundation.github.io/autoware_universe/main/vehicle/autoware_accel_brake_map_calibrator/
  • style(pre-commit): autofix

  * fix: by [pre-commit]{.title-ref} ---------Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• refactor(autoware_msgs): add USE_SCOPED_HEADER_INSTALL_DIR (#161) Co-authored-by: github-actions <<github-actions@github.com>>

• Contributors: Junya Sasaki, Vishal Chauhan

1.12.0 (2026-04-27)

• docs: add documentation to remaining msg/srv fields (#156)

  * docs: add unit and range documentation to message fields Add inline comments to clarify units and valid ranges for:

  • TrafficLightElement.msg: confidence range (0.0-1.0)
  • ObjectClassification.msg: probability range (0.0-1.0)
  • SteeringReport.msg: steering_tire_angle unit [rad]

  - VelocityReport.msg: velocity units [m/s], heading_rate [rad/s] Related to https://github.com/autowarefoundation/autoware_adapi_msgs/issues/106

  • add comments
  • style(pre-commit): autofix

  * Apply suggestions from code review Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

  * Update autoware_system_msgs/srv/ChangeOperationMode.srv Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

  * Update autoware_vehicle_msgs/srv/ControlModeCommand.srv Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

  * Update autoware_planning_msgs/srv/SetWaypointRoute.srv ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Mete Fatih Cırıt <<mfc@autoware.org>>

• docs: add unit and range documentation to message fields (#155) Add inline comments to clarify units and valid ranges for:

  • TrafficLightElement.msg: confidence range (0.0-1.0)
  • ObjectClassification.msg: probability range (0.0-1.0)
  • SteeringReport.msg: steering_tire_angle unit [rad]

  - VelocityReport.msg: velocity units [m/s], heading_rate [rad/s] Related to https://github.com/autowarefoundation/autoware_adapi_msgs/issues/106

• Contributors: Yutaka Kondo

1.11.0 (2025-10-23)

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