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6 files changed

+28
-40
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‎pacmod_interface/README.md

+11-11
Original file line numberDiff line numberDiff line change
@@ -8,15 +8,15 @@
88

99
- From Autoware
1010

11-
| Name | Type | Description |
12-
| -------------------------------------- | -------------------------------------------------------- | ----------------------------------------------------- |
13-
| `/control/command/control_cmd` | autoware_control_msgs::msg::Control | lateral and longitudinal control command |
14-
| `/control/command/gear_cmd` | autoware_vehicle_msgs::msg::GearCommand | gear command |
15-
| `/control/command/turn_indicators_cmd` | autoware_vehicle_msgs::msg::TurnIndicatorsCommand | turn indicators command |
16-
| `/control/command/hazard_lights_cmd` | autoware_vehicle_msgs::msg::HazardLightsCommand | hazard lights command |
17-
| `/vehicle/engage` | autoware_vehicle_msgs::msg::Engage | engage command |
18-
| `/vehicle/command/actuation_cmd` | tier4_vehicle_msgs::msg::ActuationCommandStamped | actuation (accel/brake pedal, steering wheel) command |
19-
| `/control/command/emergency_cmd` | tier4_vehicle_msgs::msg::VehicleEmergencyStamped | emergency command |
11+
| Name | Type | Description |
12+
| -------------------------------------- | ------------------------------------------------- | ----------------------------------------------------- |
13+
| `/control/command/control_cmd` | autoware_control_msgs::msg::Control | lateral and longitudinal control command |
14+
| `/control/command/gear_cmd` | autoware_vehicle_msgs::msg::GearCommand | gear command |
15+
| `/control/command/turn_indicators_cmd` | autoware_vehicle_msgs::msg::TurnIndicatorsCommand | turn indicators command |
16+
| `/control/command/hazard_lights_cmd` | autoware_vehicle_msgs::msg::HazardLightsCommand | hazard lights command |
17+
| `/vehicle/engage` | autoware_vehicle_msgs::msg::Engage | engage command |
18+
| `/vehicle/command/actuation_cmd` | tier4_vehicle_msgs::msg::ActuationCommandStamped | actuation (accel/brake pedal, steering wheel) command |
19+
| `/control/command/emergency_cmd` | tier4_vehicle_msgs::msg::VehicleEmergencyStamped | emergency command |
2020

2121
- From Pacmod
2222

@@ -45,8 +45,8 @@
4545

4646
- To Autoware
4747

48-
| Name | Type | Description |
49-
| ---------------------------------------- | ------------------------------------------------------- | ---------------------------------------------------- |
48+
| Name | Type | Description |
49+
| ---------------------------------------- | -------------------------------------------------- | ---------------------------------------------------- |
5050
| `/vehicle/status/control_mode` | autoware_vehicle_msgs::msg::ControlModeReport | control mode |
5151
| `/vehicle/status/velocity_status` | autoware_vehicle_msgs::msg::VelocityReport | velocity |
5252
| `/vehicle/status/steering_status` | autoware_vehicle_msgs::msg::SteeringReport | steering wheel angle |

‎pacmod_interface/include/pacmod_interface/pacmod_interface.hpp

+4-8
Original file line numberDiff line numberDiff line change
@@ -64,8 +64,7 @@ class PacmodInterface : public rclcpp::Node
6464
private:
6565
/* subscribers */
6666
// From Autoware
67-
rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr
68-
control_cmd_sub_;
67+
rclcpp::Subscription<autoware_control_msgs::msg::Control>::SharedPtr control_cmd_sub_;
6968
rclcpp::Subscription<autoware_vehicle_msgs::msg::GearCommand>::SharedPtr gear_cmd_sub_;
7069
rclcpp::Subscription<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>::SharedPtr
7170
turn_indicators_cmd_sub_;
@@ -97,11 +96,9 @@ class PacmodInterface : public rclcpp::Node
9796
raw_steer_cmd_pub_; // only for debug
9897

9998
// To Autoware
100-
rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
101-
control_mode_pub_;
99+
rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr control_mode_pub_;
102100
rclcpp::Publisher<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
103-
rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr
104-
steering_status_pub_;
101+
rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_status_pub_;
105102
rclcpp::Publisher<autoware_vehicle_msgs::msg::GearReport>::SharedPtr gear_status_pub_;
106103
rclcpp::Publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
107104
turn_indicators_status_pub_;
@@ -188,8 +185,7 @@ class PacmodInterface : public rclcpp::Node
188185

189186
/* callbacks */
190187
void callbackActuationCmd(const ActuationCommandStamped::ConstSharedPtr msg);
191-
void callbackControlCmd(
192-
const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
188+
void callbackControlCmd(const autoware_control_msgs::msg::Control::ConstSharedPtr msg);
193189

194190
void callbackEmergencyCmd(
195191
const tier4_vehicle_msgs::msg::VehicleEmergencyStamped::ConstSharedPtr msg);

‎pacmod_interface/include/pacmod_steer_test/pacmod_steer_test.hpp

+2-4
Original file line numberDiff line numberDiff line change
@@ -79,11 +79,9 @@ class PacmodSteerTest : public rclcpp::Node
7979
rclcpp::Publisher<pacmod3_msgs::msg::SystemCmdInt>::SharedPtr turn_cmd_pub_;
8080

8181
// output vehicle info
82-
rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr
83-
control_mode_pub_;
82+
rclcpp::Publisher<autoware_vehicle_msgs::msg::ControlModeReport>::SharedPtr control_mode_pub_;
8483
rclcpp::Publisher<autoware_vehicle_msgs::msg::VelocityReport>::SharedPtr vehicle_twist_pub_;
85-
rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr
86-
steering_status_pub_;
84+
rclcpp::Publisher<autoware_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_status_pub_;
8785
rclcpp::Publisher<autoware_vehicle_msgs::msg::GearReport>::SharedPtr shift_status_pub_;
8886
rclcpp::Publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>::SharedPtr
8987
turn_signal_status_pub_;

‎pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp

+1-2
Original file line numberDiff line numberDiff line change
@@ -119,8 +119,7 @@ void PacmodDiagPublisher::callbackAccel(const AccelWithCovarianceStamped::ConstS
119119
addValueToQue(acc_que_, accel->accel.accel.linear.x, accel->header.stamp, accel_store_time_);
120120
}
121121

122-
void PacmodDiagPublisher::callbackControlCmd(
123-
const Control::ConstSharedPtr control_cmd)
122+
void PacmodDiagPublisher::callbackControlCmd(const Control::ConstSharedPtr control_cmd)
124123
{
125124
addValueToQue(
126125
acc_cmd_que_, control_cmd->longitudinal.acceleration, control_cmd->stamp, accel_store_time_);

‎pacmod_interface/src/pacmod_interface/pacmod_interface.cpp

+9-13
Original file line numberDiff line numberDiff line change
@@ -74,14 +74,12 @@ PacmodInterface::PacmodInterface()
7474
"/control/command/control_cmd", 1, std::bind(&PacmodInterface::callbackControlCmd, this, _1));
7575
gear_cmd_sub_ = create_subscription<autoware_vehicle_msgs::msg::GearCommand>(
7676
"/control/command/gear_cmd", 1, std::bind(&PacmodInterface::callbackGearCmd, this, _1));
77-
turn_indicators_cmd_sub_ =
78-
create_subscription<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>(
79-
"/control/command/turn_indicators_cmd", rclcpp::QoS{1},
80-
std::bind(&PacmodInterface::callbackTurnIndicatorsCommand, this, _1));
81-
hazard_lights_cmd_sub_ =
82-
create_subscription<autoware_vehicle_msgs::msg::HazardLightsCommand>(
83-
"/control/command/hazard_lights_cmd", rclcpp::QoS{1},
84-
std::bind(&PacmodInterface::callbackHazardLightsCommand, this, _1));
77+
turn_indicators_cmd_sub_ = create_subscription<autoware_vehicle_msgs::msg::TurnIndicatorsCommand>(
78+
"/control/command/turn_indicators_cmd", rclcpp::QoS{1},
79+
std::bind(&PacmodInterface::callbackTurnIndicatorsCommand, this, _1));
80+
hazard_lights_cmd_sub_ = create_subscription<autoware_vehicle_msgs::msg::HazardLightsCommand>(
81+
"/control/command/hazard_lights_cmd", rclcpp::QoS{1},
82+
std::bind(&PacmodInterface::callbackHazardLightsCommand, this, _1));
8583

8684
actuation_cmd_sub_ = create_subscription<ActuationCommandStamped>(
8785
"/control/command/actuation_cmd", 1,
@@ -137,9 +135,8 @@ PacmodInterface::PacmodInterface()
137135
"/vehicle/status/steering_status", rclcpp::QoS{1});
138136
gear_status_pub_ = create_publisher<autoware_vehicle_msgs::msg::GearReport>(
139137
"/vehicle/status/gear_status", rclcpp::QoS{1});
140-
turn_indicators_status_pub_ =
141-
create_publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>(
142-
"/vehicle/status/turn_indicators_status", rclcpp::QoS{1});
138+
turn_indicators_status_pub_ = create_publisher<autoware_vehicle_msgs::msg::TurnIndicatorsReport>(
139+
"/vehicle/status/turn_indicators_status", rclcpp::QoS{1});
143140
hazard_lights_status_pub_ = create_publisher<autoware_vehicle_msgs::msg::HazardLightsReport>(
144141
"/vehicle/status/hazard_lights_status", rclcpp::QoS{1});
145142
actuation_status_pub_ =
@@ -601,8 +598,7 @@ double PacmodInterface::calculateVariableGearRatio(const double vel, const doubl
601598
1e-5, vgr_coef_a_ + vgr_coef_b_ * vel * vel - vgr_coef_c_ * std::fabs(steer_wheel));
602599
}
603600

604-
uint16_t PacmodInterface::toPacmodShiftCmd(
605-
const autoware_vehicle_msgs::msg::GearCommand & gear_cmd)
601+
uint16_t PacmodInterface::toPacmodShiftCmd(const autoware_vehicle_msgs::msg::GearCommand & gear_cmd)
606602
{
607603
using pacmod3_msgs::msg::SystemCmdInt;
608604

‎pacmod_interface/src/pacmod_steer_test/pacmod_steer_test.cpp

+1-2
Original file line numberDiff line numberDiff line change
@@ -113,8 +113,7 @@ PacmodSteerTest::PacmodSteerTest()
113113
this->get_node_timers_interface()->add_timer(timer_, nullptr);
114114
}
115115

116-
void PacmodSteerTest::callbackEngage(
117-
const autoware_vehicle_msgs::msg::Engage::ConstSharedPtr msg)
116+
void PacmodSteerTest::callbackEngage(const autoware_vehicle_msgs::msg::Engage::ConstSharedPtr msg)
118117
{
119118
engage_cmd_ = msg->engage;
120119
is_clear_override_needed_ = true;

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