Vehicle Interface

The vehicle interface bridges the Autoware control and vehicle actuators. It is served by the autosdv_vehicle_launch repository located at src/autoware/vehicle/autosdv_vehicle_launch. It includes the following packages.

• autosdv_vehicle_description

  It provides vehicle appearance parameters.

• autosdv_vehicle_launch

  It provides a launch file that runs necessary nodes to drive the vehicle.

• autosdv_vehicle_interface

  The package provides the node that converts the Autoware control commands to motor power and provides vehicle status reporting nodes for cruise control.

To launch the vehicle interface for the vehicle,

ros2 launch autosdv_vehicle_launch vehicle_interface.launch.xml

The Velocity Reporting Node

The node is implemented in velocity_report.py. It periodically reads the Hall effect sensor and counts the magnet markers embedded on the wheel in each period. In this way, the rotation speed of the wheel can be measured, and the instant speed can be calculated by multiplying the wheel radius.

The Actuator Node

The node implemented in actuator.py reads a target speed and controls the motor power to reach to that speed. It uses a PID controller to compute PWM values and applies them on DC motors.