vehicle-status-velocity-status.md

last_updated	2026-01-21
interface_type	topic
interface_name	/vehicle/status/velocity_status
data_type_name	autoware_vehicle_msgs/msg/VelocityReport
data_type_link	https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_vehicle_msgs/msg/VelocityReport.msg
rate	10
qos_reliability	reliable
qos_durability	volatile
qos_depth	1

{{ interface_name }}

Specifications

{% include 'design/autoware-architecture-v1/interfaces/templates/topic.jinja2' %}

Description

Get the current velocity status of the vehicle.

Message

See the [message definition]({{ data_type_link }}) for details.

Errors

Unknown status: If the vehicle interface cannot get the status due to connection loss, etc., the status is stopped and a diagnostic error is reported.

Hardware Fault: If the vehicle platform reports a sensor fault, a diagnostic error is reported.

Support

This interface is required.

Limitations

T.B.C.

Use Cases

• Control the vehicle for autonomous driving.
• Display current velocity status to the operator.

Requirement

• Support getting the current velocity status of the vehicle.
• Report the error as diagnostics if the status cannot be received or an unknown status is received.

Design

Coordinate system & sign convention: The interface follows the standard vehicle coordinate system (ISO 8855 / ROS REP-103).

• Longitudinal velocity: Positive (+) indicates forward motion. Negative (-) indicates backward motion.
• Lateral velocity: Positive (+) indicates motion to the left. Negative (-) indicates motion to the right.
• Heading rate: Positive (+) indicates counter-clockwise rotation (left turn).

History

Date	Description
2026-01-21	First release in the new format.