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feat(autoware_vehicle_msgs): port actuation command/status messages from tier4_vehicle_msgs (autowarefoundation#165)
* feat(`autoware_vehicle_msgs`): add actuation command/status messages Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * rename: `[accel,brake,steer]_status` to `[accel,brake,steer]_report` * Apply the following review comment - autowarefoundation#165 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * rename: `ActuationStatus.msg` -> `ActuationReport.msg` * Apply the following review comment - autowarefoundation#165 (comment) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * 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. Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> * refactor: make field name explicit (`status` => `actuation_report`) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Co-authored-by: Mete Fatih Cırıt <mfc@autoware.org> * refactor: make field name explicit (`actuation` => `actuation_command`) Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> 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 Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix: `README.md`, based on the information below * https://autowarefoundation.github.io/autoware_universe/main/vehicle/autoware_accel_brake_map_calibrator/ Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * fix: by `pre-commit` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Signed-off-by: Mete Fatih Cırıt <mfc@autoware.org> 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>
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‎autoware_vehicle_msgs/CMakeLists.txt‎

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ament_auto_find_build_dependencies()
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/ActuationCommand.msg"
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"msg/ActuationCommandStamped.msg"
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"msg/ActuationReport.msg"
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"msg/ActuationReportStamped.msg"
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"msg/ControlModeReport.msg"
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"msg/Engage.msg"
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"msg/GearCommand.msg"

‎autoware_vehicle_msgs/README.md‎

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# autoware_vehicle_msgs
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## ActuationCommand.msg
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Defines an actuator-level command for the vehicle.
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This message sits **below** `autoware_control_msgs/Control.msg` in the control stack.
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- `Control.msg` expresses the _desired physical state_ of the vehicle (target steering tire angle, target velocity / acceleration). It is vehicle-independent.
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- `ActuationCommand.msg` expresses _commands to the actuators themselves_ (throttle pedal, brake pedal, steering input). Its meaning depends on how the vehicle interface is configured.
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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.
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Fields:
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| Field | Meaning | Range | Sign | Units |
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| ----------- | ------------------------------------------------------------------------------------ | ------------------------------------------------------------------- | ------------------------- | ------------- |
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| `accel_cmd` | Throttle pedal command (vehicle-defined scale) | Vehicle-dependent (defined by actuation maps and vehicle interface) | n/a | Dimensionless |
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| `brake_cmd` | Brake pedal command (vehicle-defined scale) | Vehicle-dependent (defined by actuation maps and vehicle interface) | n/a | Dimensionless |
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| `steer_cmd` | Steering actuation signal. Semantics depend on `convert_steer_cmd_method`, see below | Vehicle-dependent (defined by actuation maps and vehicle interface) | Left positive (Ackermann) | See below |
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Note that for `brake_cmd`, the command itself is positive while the resulting deceleration is negative.
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`steer_cmd` modes:
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| `convert_steer_cmd_method` | `steer_cmd` meaning | Units |
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| -------------------------- | ----------------------------------------------------------------------------------------- | --------------- |
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| Unset (vanilla) | Steering tire angle | radians |
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| `"vgr"` | Steering wheel angle, derived from the tire angle via a velocity-dependent gear ratio | radians |
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| `"steer_map"` | Vehicle-specific actuation signal (for example an EPS voltage), produced from a steer map | vehicle-defined |
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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.
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## ActuationCommandStamped.msg
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Wraps `ActuationCommand` with a `std_msgs/Header`, typically containing the time at which the command was issued. The `frame_id` is not used.
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## ActuationReport.msg
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Defines the _actual_ actuator state reported back by the vehicle, mirroring `ActuationCommand`.
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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`.
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Fields use the same units, sign conventions, and modes as `ActuationCommand`:
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- `accel_report`: Throttle pedal command the vehicle is currently applying (vehicle-defined scale).
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- `brake_report`: Brake pedal command the vehicle is currently applying (vehicle-defined scale).
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- `steer_report`: Steering actuation signal the vehicle is currently applying. Same mode-dependent semantics as `steer_cmd`.
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## ActuationReportStamped.msg
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Wraps `ActuationReport` with a `std_msgs/Header` carrying the report's timestamp.

‎autoware_vehicle_msgs/msg/ActuationCommand.msg‎

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#
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# Actuation commands for longitudinal and lateral control.
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#
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# Acceleration command (required)
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# e.g. 0.5
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float64 accel_cmd
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# Brake command (required)
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# e.g. 0.1
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float64 brake_cmd
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# Steering command (required)
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# e.g. 0.05
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float64 steer_cmd

‎autoware_vehicle_msgs/msg/ActuationCommandStamped.msg‎

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#
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# Stamped actuation command.
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#
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# Standard message header (required)
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# e.g. stamp=0.0, frame_id=base_link
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std_msgs/Header header
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# Actuation command (required)
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autoware_vehicle_msgs/ActuationCommand actuation_command

‎autoware_vehicle_msgs/msg/ActuationReport.msg‎

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#
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# Actuation report for longitudinal and lateral control.
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#
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# Acceleration report (required)
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# e.g. 0.4
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float64 accel_report
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# Brake report (required)
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# e.g. 0.0
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float64 brake_report
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# Steering report (required)
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# e.g. 0.03
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float64 steer_report

‎autoware_vehicle_msgs/msg/ActuationReportStamped.msg‎

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#
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# Stamped actuation report.
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#
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# Standard message header (required)
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# e.g. stamp=0.0, frame_id=base_link
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std_msgs/Header header
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# Actuation report (required)
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autoware_vehicle_msgs/ActuationReport actuation_report

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