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feat(control-messages): add control messages (#11)
Signed-off-by: M. Fatih Cırıt <[email protected]>
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‎NOTICE

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Copyright 2022 The Autoware Foundation
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Some of the messages within this repository are based on autoware_auto_msgs messages that were developed in cooperation with Apex.AI, Inc.

‎autoware_control_msgs/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(autoware_control_msgs)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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set(msg_files
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"msg/Control.msg"
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"msg/ControlHorizon.msg"
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"msg/Lateral.msg"
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"msg/Longitudinal.msg")
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set(msg_dependencies
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builtin_interfaces)
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rosidl_generate_interfaces(${PROJECT_NAME}
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${msg_files}
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DEPENDENCIES ${msg_dependencies}
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ADD_LINTER_TESTS)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_auto_package()

‎autoware_control_msgs/README.md

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# autoware_control_msgs
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## Design
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Vehicle dimensions and axes: <https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions/>
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### Lateral.msg
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Defines a lateral control command message with a timestamp.
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The message conveys the expectation for vehicle's lateral state to be in the given configuration in the time point: `control_time`.
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- The field `steering_tire_angle` is required.
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- The field `steering_tire_rotation_rate` is optional but may be required by some nodes.
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- If this field is used, `is_defined_steering_tire_rotation_rate` must be set `true`.
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### Longitudinal.msg
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Defines a longitudinal control command message with a timestamp.
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The message conveys the expectation for vehicle's longitudinal state to be in the given configuration in the time point: `control_time`.
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- The field `velocity` is required.
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- The field `acceleration` is optional but may be required by some nodes.
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- If this field is used, `is_defined_acceleration` must be set `true`.
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- The field `jerk` is optional but may be required by some nodes.
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- If this field is used, `is_defined_jerk` must be set `true`.
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### Control.msg
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Defines a control command message, combining `Lateral.msg` and `Longitudinal.msg`.
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The message conveys the expectation for vehicle's combined control state to be in the given configuration in the time point: `control_time`.
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If the `control_time` is defined, the `control_time` field in the `lateral` and `longitudinal` fields are ignored.
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### ControlHorizon.msg
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Defines a control commands array calculated for a future horizon.
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- Control messages are ordered from near to far future `[0 to N)` with `time_step_ms` increments.
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- First element of the array contains the control signals at the `control_time` of this message.
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- The `control_time` field in each element of the controls array can be ignored.

‎autoware_control_msgs/msg/Control.msg

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# Control message with lateral and longitudinal components
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# Time this message was created
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builtin_interfaces/Time stamp
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# Time this configuration state is expected to be achieved in (optional)
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builtin_interfaces/Time control_time
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# Lateral control command
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Lateral lateral
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# Longitudinal control command
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Longitudinal longitudinal

‎autoware_control_msgs/msg/ControlHorizon.msg

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# Control messages calculated for a future horizon
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#
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# Control messages are ordered from near to far future [0 to N) with time_step_ms increments.
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#
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# First element of the array contains the control signals at the control_time of this message.
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#
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# The control_time field in each element of the controls array can be ignored.
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# Time this message was created
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builtin_interfaces/Time stamp
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# Time when controls[0] configuration state is expected to be achieved in
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builtin_interfaces/Time control_time
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# Time difference between consecutive elements of the controls array in milliseconds
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float32 time_step_ms
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Control[] controls

‎autoware_control_msgs/msg/Lateral.msg

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# Lateral control message for Ackermann-style platforms
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#
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# Note regarding tires: If the platform has multiple steering tires, the commands
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# given here are for a virtual tire at the average lateral position of the steering tires.
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#
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# Look up Ackermann Bicycle Model for more details
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#
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# Positive values represents left inclination (if forward)
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# Negative values represents right inclination (if forward)
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# Time this message was created
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builtin_interfaces/Time stamp
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# Time this configuration state is expected to be achieved in (optional)
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builtin_interfaces/Time control_time
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# Desired angle of the steering tire in rad (radians)
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float32 steering_tire_angle
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# Desired rate of change of the steering tire angle in rad/s
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float32 steering_tire_rotation_rate
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# Controller has filled in the steering_tire_rotation_rate value
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bool is_defined_steering_tire_rotation_rate

‎autoware_control_msgs/msg/Longitudinal.msg

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# Longitudinal control message
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#
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# Values are in the base_link frame in X axis
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#
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# Positive values represent forward motion (+X)
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# Negative values represent backward motion (-X)
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# Time this message was created
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builtin_interfaces/Time stamp
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# Time this configuration state is expected to be achieved in (optional)
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builtin_interfaces/Time control_time
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# Desired vehicle velocity in in m/s
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float32 velocity
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# Desired vehicle acceleration in m/s²
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float32 acceleration
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# Desired vehicle jerk in m/s³
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float32 jerk
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# Controller has filled in the acceleration value
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bool is_defined_acceleration
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# Controller has filled in the jerk value
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bool is_defined_jerk

‎autoware_control_msgs/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>autoware_control_msgs</name>
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<version>1.0.0</version>
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<description>Autoware control messages package.</description>
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<maintainer email="[email protected]">M. Fatih Cırıt</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<depend>builtin_interfaces</depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎build_depends.repos

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repositories:

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