This is the design document for the ne_raptor_interface
package.
Purpose / Use cases
This package acts as a message translator between New Eagle's Raptor DBW software and Autoware.Auto.
Design
This package inherits from Vehicle interface design and, as such, performs all of the same tasks but specifically with messages from the raptor_dbw_msgs
stack.
Assumptions / Known limits
Current version of New Eagle's Raptor DBW Node is intended for R&D only!
Inputs / Outputs / API
Inputs
From Autoware
- autoware_auto_msgs::msg::HighLevelControlCommand
- autoware_auto_msgs::msg::VehicleControlCommand
- autoware_auto_msgs::msg::VehicleStateCommand
To Raptor
- raptor_dbw_msgs::msg::AcceleratorPedalCmd
- raptor_dbw_msgs::msg::BrakeCmd
- raptor_dbw_msgs::msg::GearCmd
- raptor_dbw_msgs::msg::GlobalEnableCmd
- raptor_dbw_msgs::msg::MiscCmd
- raptor_dbw_msgs::msg::SteeringCmd
Outputs
To Autoware
- autoware_auto_msgs::msg::VehicleOdometry
- autoware_auto_msgs::msg::VehicleStateReport
- autoware_auto_msgs::msg::VehicleKinematicState
From Raptor
- raptor_dbw_msgs::msg::BrakeReport
- raptor_dbw_msgs::msg::GearReport
- raptor_dbw_msgs::msg::MiscReport
- raptor_dbw_msgs::msg::OtherActuatorsReport
- raptor_dbw_msgs::msg::SteeringReport
- raptor_dbw_msgs::msg::WheelSpeedReport
Parameters
ecu_build_num
ECU build #
front_axle_to_cog
Distance from the front axle to the center-of-gravity of the vehicle in meters.
rear_axle_to_cog
Distance from the rear axle to the center-of-gravity of the vehicle in meters.
steer_to_tire_ratio
Ratio of steering angle / car tire angle
max_steer_angle
Maximum steering wheel turn angle
acceleration_limit
m/s^2, zero = no limit
deceleration_limit
m/s^2, zero = no limit
acceleration_positive_jerk_limit
m/s^3
deceleration_negative_jerk_limit
m/s^3
Inner-workings / Algorithms
Error detection and handling
- Catches invalid autonomy mode change requests.
- Catches invalid changes in speed
- Cannot go forward while in reverse gear/go backwards while in a forward gear. Defaults to commanding speed = 0 in such cases.
- Constrains wheel angle commands to a valid range
- Catches invalid gear, wiper, headlight, & turn signal state requests.
- Only high-beam headlight control is supported.
- Hazard lights are supported.
- Catches contradicting wheel speeds
Security considerations
References / External links
Future extensions / Unimplemented parts
autoware_auto_msgs::msg::RawControlCommand
not implemented - command units are undefined
Related issues