Latlon Coupler#
Overview#
Role#
Latlon Coupler module integrates lateral control command and longitudinal control command. For integration, newest value of each command are used as vehicle control command.
Input#
from Lateral Control module#
autoware_control_msgs/ControlCommandStamped:
| Input | Data Type | Explanation |
|---|---|---|
| Velocity | std_msgs/Float64 | (Zero) |
| Acceleration | std_msgs/Float64 | (Zero) |
| Steering angle | std_msgs/Float64 | |
| Steering angle velocity | std_msgs/Float64 |
from Longitudinal Control module#
autoware_control_msgs/ControlCommandStamped:
| Input | Data Type | Explanation |
|---|---|---|
| Velocity | std_msgs/Float64 | |
| Acceleration | std_msgs/Float64 | |
| Steering angle | std_msgs/Float64 | (Zero) |
| Steering angle velocity | std_msgs/Float64 | (Zero) |
Output#
autoware_control_msgs/ControlCommandStamped:
| Input | Data Type | Explanation |
|---|---|---|
| Velocity | std_msgs/Float64 | from Longitudinal Control module |
| Acceleration | std_msgs/Float64 | from Longitudinal Control module |
| Steering angle | std_msgs/Float64 | from Lateral Control module |
| Steering angle velocity | std_msgs/Float64 | from Lateral Control module |