Autoware.Auto
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#include <vehicle_interface_node.hpp>
Classes | |
struct | VehicleFilter |
Public Member Functions | |
VehicleInterfaceNode (const std::string &node_name, const std::unordered_set< ViFeature > &features, const rclcpp::NodeOptions &options) | |
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void | on_command_message (const autoware_auto_vehicle_msgs::msg::RawControlCommand &msg) |
template<> | |
void | on_command_message (const autoware_auto_control_msgs::msg::AckermannControlCommand &msg) |
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void | on_command_message (const autoware_auto_vehicle_msgs::msg::VehicleControlCommand &msg) |
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void | on_command_message (const autoware_auto_control_msgs::msg::HighLevelControlCommand &msg) |
Protected Types | |
using | ControllerBasePtr = std::unique_ptr< common::reference_tracking_controller::ReferenceTrackerBase< Real > > |
using | FilterBasePtr = std::unique_ptr< common::signal_filters::FilterBase< Real > > |
using | ModeChangeRequest = autoware_auto_vehicle_msgs::srv::AutonomyModeChange_Request |
using | ModeChangeResponse = autoware_auto_vehicle_msgs::srv::AutonomyModeChange_Response |
Protected Member Functions | |
void | set_filter (VehicleFilter &&filter) noexcept |
Set the low pass filter. More... | |
void | set_reference_tracker (ControllerBasePtr &&controller) noexcept |
Set the reference tracker (controller) More... | |
void | set_interface (std::unique_ptr< PlatformInterface > &&interface) noexcept |
Set the vehicle-specific PlatformInterface. More... | |
rclcpp::Logger | logger () const noexcept |
Get access to logger. More... | |
const SafetyStateMachine | get_state_machine () const noexcept |
Get access to Safety State Machine. More... | |
virtual void | on_control_send_failure () |
virtual void | on_state_send_failure () |
virtual void | on_mode_change_failure () |
virtual void | on_read_timeout () |
virtual void | on_error (std::exception_ptr eptr) |
Handle exception thrown in main loop. Default behavior is to set NodeState to ERROR. More... | |
A node which receives commands and sends them to the vehicle platform, and publishes reports from the vehicle platform
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autoware::drivers::vehicle_interface::VehicleInterfaceNode::VehicleInterfaceNode | ( | const std::string & | node_name, |
const std::unordered_set< ViFeature > & | features, | ||
const rclcpp::NodeOptions & | options | ||
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ROS 2 parameter constructor
[in] | node_name | The name for the node |
[in] | features | Vector of features supported by this vehicle interface |
[in] | options | An rclcpp::NodeOptions object |
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protectednoexcept |
Get access to Safety State Machine.
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protectednoexcept |
Get access to logger.
void autoware::drivers::vehicle_interface::VehicleInterfaceNode::on_command_message | ( | const autoware_auto_control_msgs::msg::AckermannControlCommand & | msg | ) |
void autoware::drivers::vehicle_interface::VehicleInterfaceNode::on_command_message | ( | const autoware_auto_control_msgs::msg::HighLevelControlCommand & | msg | ) |
void autoware::drivers::vehicle_interface::VehicleInterfaceNode::on_command_message | ( | const autoware_auto_vehicle_msgs::msg::RawControlCommand & | msg | ) |
void autoware::drivers::vehicle_interface::VehicleInterfaceNode::on_command_message | ( | const autoware_auto_vehicle_msgs::msg::VehicleControlCommand & | msg | ) |
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protectedvirtual |
Error handling behavior for when sending a control command has failed, default is throwing an exception, which is caught and turned into a change in the NodeState to ERROR TODO(c.ho) add command which failed to send as an argument
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protectedvirtual |
Handle exception thrown in main loop. Default behavior is to set NodeState to ERROR.
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protectedvirtual |
Error handling behavior for when changing the autonomy mode has failed. Default is throwing an exception
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protectedvirtual |
Error handling behavior for when receiving data from the vehicle platform has timed out, default is throwing an exception, which is caught and turned into a change in the NodeState to ERROR
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protectedvirtual |
Error handling behavior for when sending a state command has failed, default is throwing an exception, which is caught and turned into a change in the NodeState to ERROR TODO(c.ho) add command which failed to send as an argument
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protectednoexcept |
Set the low pass filter.
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protectednoexcept |
Set the vehicle-specific PlatformInterface.
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protectednoexcept |
Set the reference tracker (controller)