feat(raw_vehicle_cmd_converter): add steer command conversion with VGR #8504

kosuke55 · 2024-08-16T07:34:50Z

Description

Added conversion from steer angle to handle angle by variable gear ratio.
Both cmd and status are supported. (However, status conversion is not supported for steer_map.)
This is to unify the conversion of control commands, which has been done in vehicle_interface.
Also, status correction will be implemented in the future.

How was this PR tested?

psim wtih feat(simple_planning_simulator): add VGR sim model #8415
unit test

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2024-08-16T07:35:09Z

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codecov · 2024-08-16T07:46:09Z

Codecov Report

Attention: Patch coverage is 12.32877% with 64 lines in your changes missing coverage. Please review.

Project coverage is 23.89%. Comparing base (9a461b4) to head (5b667cc).
Report is 45 commits behind head on main.

Files	Patch %	Lines
...le/autoware_raw_vehicle_cmd_converter/src/node.cpp	0.00%	63 Missing ⚠️
...include/autoware_raw_vehicle_cmd_converter/vgr.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8504      +/-   ##
==========================================
- Coverage   23.90%   23.89%   -0.01%     
==========================================
  Files        1381     1384       +3     
  Lines      101923   101995      +72     
  Branches    38808    38819      +11     
==========================================
+ Hits        24363    24372       +9     
- Misses      75116    75179      +63     
  Partials     2444     2444

Flag	Coverage Δ		*Carryforward flag
differential	`4.79% <12.32%> (?)`
total	`23.90% <ø> (+<0.01%)`	⬆️	Carriedforward from 5bc37c2

*This pull request uses carry forward flags. Click here to find out more.

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TakaHoribe

Could you update the README, particularly by adding an image of the steering conversion scheme and clarifying/plotting what kind of value the VGR would be?

vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp

kosuke55 · 2024-08-19T07:46:44Z

@TakaHoribe

Could you update the README, particularly by adding an image of the steering conversion scheme and clarifying/plotting what kind of value the VGR would be?

thanks! I updated readme and scripts for plot.

Signed-off-by: kosuke55 <[email protected]>

vehicle/autoware_raw_vehicle_cmd_converter/README.md

Co-authored-by: Takamasa Horibe <[email protected]>

TakaHoribe · 2024-08-20T02:40:06Z

vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp

@@ -86,11 +109,11 @@ RawVehicleCommandConverterNode::RawVehicleCommandConverterNode(

 void RawVehicleCommandConverterNode::publishActuationCmd()
 {
-  if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_) {
+  if (!current_twist_ptr_ || !control_cmd_ptr_ || !current_steer_ptr_ || !actuation_status_ptr_) {


Some vehicles do not publish actiation_status. This is not necessary for vehicles that do not require the steering conversion. Please make a specific condition for that.

thanks! fixed in 0a660ef

TakaHoribe · 2024-08-20T02:42:25Z

vehicle/autoware_raw_vehicle_cmd_converter/src/node.cpp

@@ -215,6 +241,41 @@ void RawVehicleCommandConverterNode::onControlCmd(const Control::ConstSharedPtr
  control_cmd_ptr_ = msg;
  publishActuationCmd();
 }
+
+void RawVehicleCommandConverterNode::onSteering(const Steering::ConstSharedPtr msg)


Please mention that this subscriber can not be replaced by take() method in a comment.

Originally it was take(), in which case the topic name must be stated in the declaration. In that case, there would be two identical topics. Therefore, subscriber, which does not require a topic name to be specified at the time of declaration, is used.
In any case, add a comment to the code.

In that case, there would be two identical topics.

I mean, this node also need to publish steering topic if converting option is true.

added comment why not use polling sub

5b667cc

Signed-off-by: kosuke55 <[email protected]>

autowarefoundation#8504) * feat(raw_vehicle_cmd_converter): add steer command conversion with VGR Signed-off-by: kosuke55 <[email protected]> * make class and add test Signed-off-by: kosuke55 <[email protected]> * remove member vgr_coef from node Signed-off-by: kosuke55 <[email protected]> * update readme Signed-off-by: kosuke55 <[email protected]> * add svg Signed-off-by: kosuke55 <[email protected]> * add plot scripts Signed-off-by: kosuke55 <[email protected]> * Update vehicle/autoware_raw_vehicle_cmd_converter/README.md Co-authored-by: Takamasa Horibe <[email protected]> * not always subscribe actuation_status Signed-off-by: kosuke55 <[email protected]> * add comment for using normal sub for steering status Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]>

kosuke55 requested review from mkuri, zusizusi, taikitanaka3 and TakaHoribe as code owners August 16, 2024 07:34

github-actions bot added the component:vehicle Vehicle-specific implementations, drivers, packages. (auto-assigned) label Aug 16, 2024

kosuke55 mentioned this pull request Aug 16, 2024

feat(simple_planning_simulator): add VGR sim model #8415

Merged

kosuke55 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 16, 2024

kosuke55 assigned TakaHoribe Aug 16, 2024

kosuke55 force-pushed the feat/vgr_converter branch from caf1f00 to 1a01249 Compare August 16, 2024 08:58

kosuke55 mentioned this pull request Aug 16, 2024

feat(pacmod_interface): add option to receive steering wheel command directly tier4/pacmod_interface#85

Open

TakaHoribe reviewed Aug 19, 2024

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vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp Outdated Show resolved Hide resolved

github-actions bot added the type:documentation Creating or refining documentation. (auto-assigned) label Aug 19, 2024

This was referenced Aug 19, 2024

feat(words): add labelsize tier4/autoware-spell-check-dict#766

Merged

feat(words): add fontweight tier4/autoware-spell-check-dict#767

Merged

feat(words): add whitegrid tier4/autoware-spell-check-dict#765

Merged

kosuke55 added 6 commits August 20, 2024 11:21

feat(raw_vehicle_cmd_converter): add steer command conversion with VGR

8afc3cf

Signed-off-by: kosuke55 <[email protected]>

make class and add test

5c7801f

Signed-off-by: kosuke55 <[email protected]>

remove member vgr_coef from node

1235846

Signed-off-by: kosuke55 <[email protected]>

update readme

6190921

Signed-off-by: kosuke55 <[email protected]>

add svg

8e07235

Signed-off-by: kosuke55 <[email protected]>

add plot scripts

870848c

Signed-off-by: kosuke55 <[email protected]>

kosuke55 force-pushed the feat/vgr_converter branch from 5a75f20 to 870848c Compare August 20, 2024 02:21

TakaHoribe reviewed Aug 20, 2024

View reviewed changes

vehicle/autoware_raw_vehicle_cmd_converter/README.md Outdated Show resolved Hide resolved

Update vehicle/autoware_raw_vehicle_cmd_converter/README.md

5bc37c2

Co-authored-by: Takamasa Horibe <[email protected]>

TakaHoribe reviewed Aug 20, 2024

View reviewed changes

kosuke55 added 2 commits August 20, 2024 12:02

not always subscribe actuation_status

0a660ef

Signed-off-by: kosuke55 <[email protected]>

add comment for using normal sub for steering status

5b667cc

Signed-off-by: kosuke55 <[email protected]>

TakaHoribe self-requested a review August 22, 2024 04:12

TakaHoribe approved these changes Aug 22, 2024

View reviewed changes

kosuke55 mentioned this pull request Aug 22, 2024

feat(raw_vehicle_cmd_converter): add steer command conversion with VGR autowarefoundation/autoware_launch#1131

Merged

4 tasks

kosuke55 merged commit d95cfae into autowarefoundation:main Aug 22, 2024
27 of 30 checks passed

kosuke55 deleted the feat/vgr_converter branch August 22, 2024 04:59

This was referenced Aug 22, 2024

feat(raw_vehicle_cmd_converter): disable actuation to steering autowarefoundation/autoware_launch#1132

Merged

feat(raw_vehicle_cmd_converter): disable actuation to steering #8588

Merged

kosuke55 mentioned this pull request Aug 29, 2024

fix(raw_vehicle_cmd_converter): fix null check #8677

Merged

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feat(raw_vehicle_cmd_converter): add steer command conversion with VGR #8504

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kosuke55 commented Aug 16, 2024 •

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feat(raw_vehicle_cmd_converter): add steer command conversion with VGR #8504

feat(raw_vehicle_cmd_converter): add steer command conversion with VGR #8504

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kosuke55 commented Aug 16, 2024 • edited Loading

Description

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How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

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