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feat(raw_vehicle_cmd_converter): add vehicle adaptor (#8782)
* feat(raw_vehicle_cmd_converter): add vehicle adaptor Signed-off-by: kosuke55 <[email protected]> sub operation status Signed-off-by: kosuke55 <[email protected]> * feat(raw_vehicle_cmd_converter): publish vehicle adaptor output Signed-off-by: kosuke55 <[email protected]> * use control horizon Signed-off-by: kosuke55 <[email protected]> * revert carla Signed-off-by: kosuke55 <[email protected]> * update docs Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
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..._converter/include/autoware_raw_vehicle_cmd_converter/vehicle_adaptor/vehicle_adaptor.hpp
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| // Copyright 2024 Tier IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VEHICLE_ADAPTOR__VEHICLE_ADAPTOR_HPP_ | ||
| #define AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VEHICLE_ADAPTOR__VEHICLE_ADAPTOR_HPP_ | ||
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| #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp> | ||
| #include <autoware_control_msgs/msg/control.hpp> | ||
| #include <autoware_control_msgs/msg/control_horizon.hpp> | ||
| #include <autoware_vehicle_msgs/msg/steering_report.hpp> | ||
| #include <geometry_msgs/msg/accel_with_covariance_stamped.hpp> | ||
| #include <nav_msgs/msg/odometry.hpp> | ||
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| namespace autoware::raw_vehicle_cmd_converter | ||
| { | ||
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| using autoware_adapi_v1_msgs::msg::OperationModeState; | ||
| using autoware_control_msgs::msg::Control; | ||
| using autoware_control_msgs::msg::ControlHorizon; | ||
| using autoware_vehicle_msgs::msg::SteeringReport; | ||
| using geometry_msgs::msg::AccelWithCovarianceStamped; | ||
| using nav_msgs::msg::Odometry; | ||
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| class VehicleAdaptor | ||
| { | ||
| public: | ||
| VehicleAdaptor() = default; | ||
| Control compensate( | ||
| const Control & input_control_cmd, [[maybe_unused]] const Odometry & odometry, | ||
| [[maybe_unused]] const AccelWithCovarianceStamped & accel, | ||
| [[maybe_unused]] const double steering, | ||
| [[maybe_unused]] const OperationModeState & operation_mode, | ||
| [[maybe_unused]] const ControlHorizon & control_horizon); | ||
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| private: | ||
| }; | ||
| } // namespace autoware::raw_vehicle_cmd_converter | ||
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| #endif // AUTOWARE_RAW_VEHICLE_CMD_CONVERTER__VEHICLE_ADAPTOR__VEHICLE_ADAPTOR_HPP_ |
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32 changes: 32 additions & 0 deletions
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vehicle/autoware_raw_vehicle_cmd_converter/src/vehicle_adaptor/vehicle_adaptor.cpp
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| // Copyright 2024 Tier IV, Inc. All rights reserved. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #include "autoware_raw_vehicle_cmd_converter/vehicle_adaptor/vehicle_adaptor.hpp" | ||
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| #include <iostream> | ||
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| namespace autoware::raw_vehicle_cmd_converter | ||
| { | ||
| Control VehicleAdaptor::compensate( | ||
| const Control & input_control_cmd, [[maybe_unused]] const Odometry & odometry, | ||
| [[maybe_unused]] const AccelWithCovarianceStamped & accel, [[maybe_unused]] const double steering, | ||
| [[maybe_unused]] const OperationModeState & operation_mode, | ||
| [[maybe_unused]] const ControlHorizon & control_horizon) | ||
| { | ||
| // TODO(someone): implement the control command compensation | ||
| Control output_control_cmd = input_control_cmd; | ||
| std::cerr << "vehicle adaptor: compensate control command" << std::endl; | ||
| return output_control_cmd; | ||
| } | ||
| } // namespace autoware::raw_vehicle_cmd_converter |