Autoware Architecture WG Meeting (vehicle) 2022/06/08

[mitsudome-r]

Participants

Chaired by Ryohsuke

Goal of this WG

• https://docs.google.com/presentation/d/1AhuCcScktgBwJreAjDspyf2OcKTNFbK-fFI1QT9NRLg/edit?usp=sharing
• Wiki: https://github.com/autowarefoundation/autoware-projects/wiki/Autoware-Architecture-Working-Group

Discussion Topics:

Review Vehicle Interface Design

Reference:

• Past proposal from TIER IV: https://github.com/orgs/autowarefoundation/discussions/4
  • https://github.com/tier4/AutowareArchitectureProposal.proj/blob/main/docs/design/software_architecture/Vehicle/Vehicle.md
• Current Design of Vehicle Interface:
• vehicle messages: https://github.com/tier4/tier4_autoware_msgs/tree/main/autoware_vehicle_msgs/msg
• https://github.com/orgs/autowarefoundation/discussions/16#discussioncomment-2765780

Interface Design

• Output to DBW
  • Actuation Command: https://github.com/tier4/tier4_autoware_msgs/blob/main/autoware_vehicle_msgs/msg/ActuationCommand.msg
  • Vehicle Specific Commands as separate messages
    • shift
    • door
    • wiper
• Output to Control/Planning:
  • velocity information: geometry_msgs::Twist
  • Steering
  • Actuation Status
  • control mode

Discussions:

• output to DBW:

  • There was a discussion to modify actuation command to be more generic by making it a pair of (string, value)
  • https://github.com/orgs/autowarefoundation/discussions/16#discussioncomment-2765780
  • Shark Liu: It is not efficient to provide command_name as string.
    • Fatih: We can provide the info message as separate message like CameraInfo msg + Image msg
  • Predrag: If we have fixed message, is there any cases where accel_cmd and brake_cmd fused into single message?
  • Final Decision: fixed number of command (3 fields) + ActuationCommandInfo to describe each fields meaning.

• For odometry_msgs, is it velocity of each wheel? No, it is the velocity of base_link.

Next Week Topic

External API