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add table formatting
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Signed-off-by: ismetatabay <[email protected]>
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ismetatabay committed Sep 15, 2023
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Expand Up @@ -29,35 +29,28 @@ Here are some factors that might be considered:

- Some necessary topic subscription of control commands topics from Autoware to control your vehicle:

- /control/command/control_cmd (autoware_auto_control_msgs/msg/AckermannControlCommand)
- This topic includes main topics for controlling our vehicle like a steering tire angle, speed, acceleration, etc.
- /control/command/gear_cmd (autoware_auto_vehicle_msgs/msg/GearCommand)
- This topic includes gear command for autonomous driving, please check message values to make sense of gears values. Please check [the message definition](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearCommand.idl) of this type.
- /control/current_gate_mode (tier4_control_msgs/msg/GateMode)
- This topic describes control on the autoware or not. Please check [GateMode](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_control_msgs/msg/GateMode.msg) message type for detailed information.
- /control/command/emergency_cmd (tier4_vehicle_msgs/msg/VehicleEmergencyStamped)
- This topic sends emergency when autoware is on emergency state. Please check [VehicleEmergencyStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/VehicleEmergencyStamped.msg) message type for detailed information.
- /control/command/turn_indicators_cmd (autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand)
- This topic indicates a turn signal for your own vehicle. Please check [TurnIndicatorsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl) message type for detailed information.
- /control/command/hazard_lights_cmd (autoware_auto_vehicle_msgs/msg/HazardLightsCommand)
- This topic sends command for hazard lights. Please check [HazardLightsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsCommand.idl)
- /control/command/actuation_cmd (tier4_vehicle_msgs/msg/ActuationCommandStamped)
- This topic is enabled when you use `raw_vehicle_command_converter` for control your vehicle with TYPE B which we mentioned at [Vehicle interface](./vehicle-interface.md) section. In summary, if you are using Type B on your vehicle, this topic appeared and included with gas, brake, steering-wheel actuation commands. Please check [ActuationCommandStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/ActuationCommandStamped.msg) message type for detailed information.
- etc.
| Topic Name | Topic Type | Description |
| ------------------------------------ | ------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| /control/command/control_cmd | autoware_auto_control_msgs/msg/AckermannControlCommand | This topic includes main topics for controlling our vehicle like a steering tire angle, speed, acceleration, etc. |
| /control/command/gear_cmd | autoware_auto_vehicle_msgs/msg/GearCommand | This topic includes gear command for autonomous driving, please check message values to make sense of gears values. Please check [the message definition](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearCommand.idl) of this type. |
| /control/current_gate_mode | tier4_control_msgs/msg/GateMode | This topic describes control on the autoware or not. Please check [GateMode](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_control_msgs/msg/GateMode.msg) message type for detailed information. |
| /control/command/emergency_cmd | tier4_vehicle_msgs/msg/VehicleEmergencyStamped | This topic sends emergency when autoware is on emergency state. Please check [VehicleEmergencyStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/VehicleEmergencyStamped.msg) message type for detailed information. |
| /control/command/turn_indicators_cmd | autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand | This topic indicates a turn signal for your own vehicle. Please check [TurnIndicatorsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsCommand.idl) message type for detailed information. |
| /control/command/hazard_lights_cmd | autoware_auto_vehicle_msgs/msg/HazardLightsCommand | This topic sends command for hazard lights. Please check [HazardLightsCommand](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsCommand.idl) |
| /control/command/actuation_cmd | tier4_vehicle_msgs/msg/ActuationCommandStamped | This topic is enabled when you use `raw_vehicle_command_converter` for control your vehicle with TYPE B which we mentioned at [Vehicle interface](./vehicle-interface.md) section. In summary, if you are using Type B on your vehicle, this topic appeared and included with gas, brake, steering-wheel actuation commands. Please check [ActuationCommandStamped](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/ActuationCommandStamped.msg) message type for detailed information. |
| etc. | etc. | etc. |

- Some necessary topic publication of vehicle status topics from vehicle interface to Autoware:
- /vehicle/status/battery_charge (tier4_vehicle_msgs/msg/BatteryStatus)
- This topic includes battery information. Please check [BatteryStatus](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/BatteryStatus.msg) message type for detailed information. You can use this value as describing fuel level, etc.
- /vehicle/status/control_mode (autoware_auto_vehicle_msgs/msg/ControlModeReport)
- This topic describes the current control mode of vehicle. Please check [ControlModeReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/ControlModeReport.idl) message type for detailed information.
- /vehicle/status/gear_status (autoware_auto_vehicle_msgs/msg/GearReport)
- This topic includes the current gear of the vehicle. Please check [GearReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearReport.idl) message type for detailed information.
- /vehicle/status/hazard_lights_status (autoware_auto_vehicle_msgs/msg/HazardLightsReport)
- This topic describes hazard light status of the vehicle. Please check [HazardLightsReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsReport.idl) message type for detailed information.
- /vehicle/status/steering_status (autoware_auto_vehicle_msgs/msg/SteeringReport)
- This topic reports the steering status of the vehicle. Please check [SteeringReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/SteeringReport.idl) message type for detailed information.
- /vehicle/status/turn_indicators_status (autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport)
- This topic describes turn signal light status of the vehicle. Please check [TurnIndicatorsReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport.idl) message type for detailed information.

| Topic Name | Topic Type | Description |
| -------------------------------------- | --------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| /vehicle/status/battery_charge | tier4_vehicle_msgs/msg/BatteryStatus | This topic includes battery information. Please check [BatteryStatus](https://github.com/tier4/tier4_autoware_msgs/blob/tier4/universe/tier4_vehicle_msgs/msg/BatteryStatus.msg) message type for detailed information. You can use this value as describing fuel level, etc. |
| /vehicle/status/control_mode | autoware_auto_vehicle_msgs/msg/ControlModeReport | This topic describes the current control mode of vehicle. Please check [ControlModeReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/ControlModeReport.idl) message type for detailed information. |
| /vehicle/status/gear_status | autoware_auto_vehicle_msgs/msg/GearReport | This topic includes the current gear status of the vehicle. Please check [GearReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/GearReport.idl) message type for detailed information. |
| /vehicle/status/hazard_lights_status | autoware_auto_vehicle_msgs/msg/HazardLightsReport | This topic describes hazard light status of the vehicle. Please check [HazardLightsReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/HazardLightsReport.idl) message type for detailed information. |
| /vehicle/status/turn_indicators_status | autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport | This topic reports the steering status of the vehicle. Please check [SteeringReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/SteeringReport.idl) message type for detailed information. |
| /vehicle/status/steering_status | autoware_auto_vehicle_msgs/msg/SteeringReport | This topic reports the steering status of the vehicle. Please check [SteeringReport](https://github.com/tier4/autoware_auto_msgs/blob/tier4/main/autoware_auto_vehicle_msgs/msg/SteeringReport.idl) message type for detailed information. |
| etc. | etc. | etc. |

This diagram as an example for communication of vehicle interface and autoware
with describing sample topics and message types.
Expand Down Expand Up @@ -161,14 +154,13 @@ void <YOUR-OWN-VEHICLE-INTERFACE>::to_autoware()
- Communication between the vehicle interface and your vehicle's control device

- If you are planning to drive by autoware with your vehicle, then your vehicle must satisfy some requirements:
- For Type A
- Your vehicle can be controlled in longitudinal direction by the target velocity or acceleration.
- Your vehicle can be controlled in lateral direction by the target steering angle. (Optionally, you can use steering rate as well)
- Your vehicle must provide velocity or acceleration information and steering information which is described at the vehicle status topics above.
- For Type B
- Your vehicle can be controlled in longitudinal direction by the specific target commands. (i.e., brake and gas pedal)
- Your vehicle can be controlled in lateral direction by the specific target commands. (i.e., steering torque)
- Your vehicle must provide velocity or acceleration information and steering information which is described at the vehicle status topics above.

| Type A | Type B |
| ---------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------- |
| Your vehicle can be controlled in longitudinal direction by the target velocity or acceleration. | Your vehicle can be controlled in longitudinal direction by the specific target commands. (i.e., brake and gas pedal) |
| Your vehicle can be controlled in lateral direction by the target steering angle. (Optionally, you can use steering rate as well) | Your vehicle can be controlled in lateral direction by the specific target commands. (i.e., steering torque) |
| Your vehicle must provide velocity or acceleration information and steering information which is described at the vehicle status topics above. | Your vehicle must provide velocity or acceleration information and steering information which is described at the vehicle status topics above. |

- You can also use mixed Type A and Type B, for example, you want to use lateral controlling with a steering angle and longitudinal controlling with specific targets. In order to do that, you must subscribe `/control/command/control_cmd` for getting steering information, and you must subscribe `/control/command/actuation_cmd` for gas and brake pedal actuation commands. Then, you must handle these messages on your own vehicle_interface design.
- You must adopt your vehicle low-level controller to run with autoware.
- If you are using CAN communication on your vehicle, please refer to [ros2_socketcan](https://github.com/autowarefoundation/ros2_socketcan) package by Autoware.
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