feat(control-messages): add control messages (#11)

Signed-off-by: M. Fatih Cırıt <[email protected]>

NOTICE

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+Copyright 2022 The Autoware Foundation
+
+Some of the messages within this repository are based on autoware_auto_msgs messages that were developed in cooperation with Apex.AI, Inc.

autoware_control_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(autoware_control_msgs)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+set(msg_files
+  "msg/Control.msg"
+  "msg/ControlHorizon.msg"
+  "msg/Lateral.msg"
+  "msg/Longitudinal.msg")
+
+set(msg_dependencies
+  builtin_interfaces)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  ${msg_files}
+  DEPENDENCIES ${msg_dependencies}
+  ADD_LINTER_TESTS)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

autoware_control_msgs/README.md

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+# autoware_control_msgs
+
+## Design
+
+Vehicle dimensions and axes: <https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/components/vehicle-dimensions/>
+
+### Lateral.msg
+
+Defines a lateral control command message with a timestamp.
+
+The message conveys the expectation for vehicle's lateral state to be in the given configuration in the time point: `control_time`.
+
+- The field `steering_tire_angle` is required.
+- The field `steering_tire_rotation_rate` is optional but may be required by some nodes.
+  - If this field is used, `is_defined_steering_tire_rotation_rate` must be set `true`.
+
+### Longitudinal.msg
+
+Defines a longitudinal control command message with a timestamp.
+
+The message conveys the expectation for vehicle's longitudinal state to be in the given configuration in the time point: `control_time`.
+
+- The field `velocity` is required.
+- The field `acceleration` is optional but may be required by some nodes.
+  - If this field is used, `is_defined_acceleration` must be set `true`.
+- The field `jerk` is optional but may be required by some nodes.
+  - If this field is used, `is_defined_jerk` must be set `true`.
+
+### Control.msg
+
+Defines a control command message, combining `Lateral.msg` and `Longitudinal.msg`.
+
+The message conveys the expectation for vehicle's combined control state to be in the given configuration in the time point: `control_time`.
+
+If the `control_time` is defined, the `control_time` field in the `lateral` and `longitudinal` fields are ignored.
+
+### ControlHorizon.msg
+
+Defines a control commands array calculated for a future horizon.
+
+- Control messages are ordered from near to far future `[0 to N)` with `time_step_ms` increments.
+- First element of the array contains the control signals at the `control_time` of this message.
+- The `control_time` field in each element of the controls array can be ignored.

autoware_control_msgs/msg/Control.msg

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+# Control message with lateral and longitudinal components
+
+# Time this message was created
+builtin_interfaces/Time stamp
+
+# Time this configuration state is expected to be achieved in (optional)
+builtin_interfaces/Time control_time
+
+# Lateral control command
+Lateral lateral
+
+# Longitudinal control command
+Longitudinal longitudinal

autoware_control_msgs/msg/ControlHorizon.msg

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+# Control messages calculated for a future horizon
+#
+# Control messages are ordered from near to far future [0 to N) with time_step_ms increments.
+#
+# First element of the array contains the control signals at the control_time of this message.
+#
+# The control_time field in each element of the controls array can be ignored.
+
+# Time this message was created
+builtin_interfaces/Time stamp
+
+# Time when controls[0] configuration state is expected to be achieved in
+builtin_interfaces/Time control_time
+
+# Time difference between consecutive elements of the controls array in milliseconds
+float32 time_step_ms
+
+Control[] controls

autoware_control_msgs/msg/Lateral.msg

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+# Lateral control message for Ackermann-style platforms
+#
+# Note regarding tires: If the platform has multiple steering tires, the commands
+# given here are for a virtual tire at the average lateral position of the steering tires.
+#
+# Look up Ackermann Bicycle Model for more details
+#
+# Positive values represents left inclination (if forward)
+# Negative values represents right inclination (if forward)
+
+# Time this message was created
+builtin_interfaces/Time stamp
+
+# Time this configuration state is expected to be achieved in (optional)
+builtin_interfaces/Time control_time
+
+# Desired angle of the steering tire in rad (radians)
+float32 steering_tire_angle
+
+# Desired rate of change of the steering tire angle in rad/s
+float32 steering_tire_rotation_rate
+
+# Controller has filled in the steering_tire_rotation_rate value
+bool is_defined_steering_tire_rotation_rate

autoware_control_msgs/msg/Longitudinal.msg

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+# Longitudinal control message
+#
+# Values are in the base_link frame in X axis
+#
+# Positive values represent forward motion (+X)
+# Negative values represent backward motion (-X)
+
+# Time this message was created
+builtin_interfaces/Time stamp
+
+# Time this configuration state is expected to be achieved in (optional)
+builtin_interfaces/Time control_time
+
+# Desired vehicle velocity in in m/s
+float32 velocity
+
+# Desired vehicle acceleration in m/s²
+float32 acceleration
+
+# Desired vehicle jerk in m/s³
+float32 jerk
+
+# Controller has filled in the acceleration value
+bool is_defined_acceleration
+
+# Controller has filled in the jerk value
+bool is_defined_jerk

autoware_control_msgs/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>autoware_control_msgs</name>
+  <version>1.0.0</version>
+  <description>Autoware control messages package.</description>
+
+  <maintainer email="[email protected]">M. Fatih Cırıt</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>builtin_interfaces</depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

build_depends.repos

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+repositories: