Autoware.Auto
ne_raptor_interface

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

  • Autoware Command messages are sent when the commanded values should change
  • Raptor DBW Command messages are sent periodically (every 20-100ms advised)

From Autoware

  • autoware_auto_control_msgs::msg::HighLevelControlCommand
  • autoware_auto_vehicle_msgs::msg::VehicleControlCommand
  • autoware_auto_control_msgs::msg::AckermannControlCommand (untested).
  • autoware_auto_vehicle_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

  • Raptor DBW Report messages are received periodically
  • Autoware Report messages are passed on once all relevant data has been compiled from the Raptor DBW Reports

To Autoware

  • autoware_auto_vehicle_msgs::msg::VehicleOdometry
  • autoware_auto_vehicle_msgs::msg::VehicleStateReport
  • autoware_auto_vehicle_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
  • pub_period message publishing period, in milliseconds

Inner-workings / Algorithms

  • Autoware Command messages are sent on change, while Raptor DBW Command messages must be sent periodically.

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.
  • Catches contradicting wheel speeds

Security considerations

References / External links

Future extensions / Unimplemented parts

  • autoware_auto_vehicle_msgs::msg::RawControlCommand not implemented - Command units are undefined

Related issues