Control Command Adapter

[maxime-clem]

It was decided that a Control Command Adapter will be added to Autoware.
This adapter will convert Autoware control command messages to vehicle actuation commands.
For example, it will convert the speed and acceleration of the AckermannControlCommand message to throttle and brake values to be sent to the vehicle.

The remaining discussion point concerns the implementation of this adapter and whether it should be implemented as a library to be used by the VehicleInterface, or as an independent node.

---

Node:

• Makes it easier to use calibration tools (e.g., https://github.com/tier4/AutowareArchitectureProposal.iv/tree/use-autoware-auto-msgs/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator).

Library:

• Less overhead.

---

Please share your opinions on the advantages and disadvantages of each option.

[xmfcx]

ActuationCommand Message:

• string command_name
• float value

ActuationCommands Message:

• ActuationCommand[] commands

ActuationStatus Message:

• string status_name
• float value

ActuationStatus Message:

• ActuationStatus[] statuss

command_name and status_name could be:

• brake_pedal_level
• throttle_pedal_level
• voltage (steer/wheel)
• torque (steer/wheel)
• pressure (for brake)

These messages are used by:

• Vehicle Interface
• Control Command Adapter
• Calibration tool (when it is implemented)

Control Message:
Lateral:

• steering angle
• steering rate

Longitudinal:

• velocity
• acceleration (can be + or - )
• jerk

[taikitanaka3]

@xmfcx
here is current topic names.
I would like to use ActuationStatus(.iv) rather than Report(which comes from .auto)

/vehicle/status/control_mode
/vehicle/status/door_status
/vehicle/status/gear_status
/vehicle/status/hazard_lights_status
/vehicle/status/steering_offset
/vehicle/status/steering_status
/vehicle/status/turn_indicators_status
/vehicle/status/velocity_status

[xmfcx]

Thanks, I've updated the names in previous post, is it ok now?

[taikitanaka3]

Good Thank you