Interface

List

Interface	Name	Type
Service	/control/control_mode_request	autoware_auto_vehicle_msgs/srv/ControlModeCommand
Publisher	/vehicle/status/control_mode	autoware_auto_vehicle_msgs/msg/ControlModeReport
Subscription	/control/command/control_cmd	autoware_auto_control_msgs/msg/AckermannControlCommand
Subscription	/control/command/actuation_cmd	tier4_vehicle_msgs/msg/ActuationCommandStamped
Publisher	/vehicle/status/actuation_status	tier4_vehicle_msgs/msg/ActuationStatusStamped
Publisher	/vehicle/status/velocity_status	autoware_auto_vehicle_msgs/msg/VelocityReport
Publisher	/vehicle/status/steering_status	autoware_auto_vehicle_msgs/msg/SteeringReport
Subscription	/control/command/gear_cmd	autoware_auto_vehicle_msgs/msg/GearCommand
Publisher	/vehicle/status/gear_status	autoware_auto_vehicle_msgs/msg/GearReport
Publisher	/sensing/gnss/pose_with_covariance	geometry_msgs/msg/PoseWithCovarianceStamped
Publisher	/sensing/imu/imu_raw	sensor_msgs/msg/Imu
Publisher	/aichallenge/objects	std_msgs/msg/Float64MultiArray
Publisher	/aichallenge/pitstop/area	std_msgs/msg/Float64MultiArray
Publisher	/aichallenge/pitstop/condition	std_msgs/msg/Int32
Publisher	/aichallenge/pitstop/status	std_msgs/msg/Float32

/control/command/control_cmd

Name	Description
stamp	Message timestamp
lateral.stamp	Unused
lateral.steering_tire_angle	Target steering angle
lateral.steering_tire_rotation_rate	Unused
longitudinal.stamp	Unused
longitudinal.speed	Unused
longitudinal.acceleration	Target acceleration
longitudinal.jerk	Unused

/control/command/actuation_cmd

Name	Description
header.stamp	Message timestamp
header.frame_id	Unused
actuation.accel_cmd	Accel command value (0.0 to 1.0)
actuation.brake_cmd	Brake command value (0.0 to 1.0)
actuation.steer_cmd	Tire angle command value (rad)

/vehicle/status/actuation_status

Name	Description
header.stamp	Data acquisition time
header.frame_id	Unused
status.accel_status	Accel current value (0.0 to 1.0)
status.brake_status	Brake current value (0.0 to 1.0)
status.steer_status	Tire angle current value (rad)

/vehicle/status/velocity_status

Name	Description
header.stamp	Data acquisition time
header.frame_id	Frame ID (base_link)
longitudinal_velocity	Longitudinal velocity
lateral_velocity	Lateral velocity
heading_rate	Angular velocity

/vehicle/status/steering_status

Name	Description
stamp	Data acquisition time
steering_tire_angle	Steering angle

/control/command/gear_cmd

Name	Description
stamp	Message timestamp
command	Gear type

/vehicle/status/gear_status

Name	Description
stamp	Data acquisition time
report	Gear type

/sensing/gnss/pose_with_covariance

Name	Description
header.stamp	Data acquisition time
header.frame_id	Frame ID (map)
pose.pose.position	Vehicle position (origin of base_link)
pose.pose.orientation	Unused
pose.covariance	Position accuracy

/sensing/imu/imu_raw

Name	Description
header.stamp	Data acquisition time
header.frame_id	Frame ID (imu_link)
orientation	Orientation
angular_velocity	Angular velocity
linear_acceleration	Linear acceleration

/aichallenge/objects

Name	Description
data[N * 4 + 0]	X coordinate of Nth object
data[N * 4 + 1]	Y coordinate of Nth object
data[N * 4 + 2]	Z coordinate of Nth object
data[N * 4 + 3]	Radius of Nth object

/aichallenge/pitstop/area

Name	Description
data[0]	X position of Pit Stop Area
data[1]	Y position of Pit Stop Area
data[2]	Z position of Pit Stop Area
data[3]	X quaternion of Pit Stop Area
data[4]	Y quaternion of Pit Stop Area
data[5]	Z quaternion of Pit Stop Area
data[6]	W quaternion of Pit Stop Area
data[7]	X size of of Pit Stop Area
data[8]	Y size of of Pit Stop Area

/aichallenge/pitstop/condition

Name	Description
data	Current condition value

/aichallenge/pitstop/status

Name	Description
data	Number of seconds a pit stop is valid