该节点是为适配autoware.universe自动驾驶框架而编写的ROS2节点，目前仅支持 mick_robot_chassis 开源底盘。
适配工作参考了Autoware教程 Creating vehicle interface
该节点目前实现了以下话题收发：
订阅：
| 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 of this type. |
| /control/command/emergency_cmd | tier4_vehicle_msgs/msg/VehicleEmergencyStamped | This topic sends emergency when autoware is on emergency state. Please check VehicleEmergencyStamped 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 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 |
发布：
| Topic Name | Topic Type | Description |
|---|---|---|
| /vehicle/status/control_mode | autoware_auto_vehicle_msgs/msg/ControlModeReport | This topic describes the current control mode of vehicle. Please check ControlModeReport 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 message type for detailed information. |
| /vehicle/status/velocity_status | autoware_auto_vehicle_msgs/msg/VelocityReport | This topic gives us the velocity status of the vehicle. Please check VelocityReport 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 message type for detailed information. |
| /vehicle/status/turn_indicators_status | autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport | This topic reports the turn indicators status of the vehicle. Please check TurnIndicatorsReport 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 message type for detailed information. |
经过实际考察验证，至少需要收发以下话题。此外，针对 mick_robot_chassis 底盘，部分部件 (如转向灯) 实际不存在, 采用在 interface 内部维护一个变量方式提供。
至少需要接受以下话题
- 转向、速度、加速度 /control/command/control_cmd
- 紧急停车 /control/command/emergency_cmd
- 档位控制 /control/command/gear_cmd
- 转向灯 /control/command/turn_indicators_cmd
- 双闪 危险报警闪光灯 /control/command/hazard_lights_cmd
至少需要发布以下话题
- 车辆档位状态 /vehicle/status/gear_status
- 上报车辆控制模式 用于确定是否被人工接管 /vehicle/status/control_mode
- 上报车速 /vehicle/status/velocity_status
- 上报转向 /vehicle/status/steering_status
- 上报转向灯 /vehicle/status/turn_indicators_status
- 上报双闪灯 /vehicle/status/hazard_lights_status