raptor_dbw_interface

Autoware vehicle interface for New Eagle Raptor DBW (drive-by-wire)

raptor_dbw_interface is a ROS 2 package to connect Autoware with Raptor DBW hardware.

Communication Architecture between Autoware and New Eagle Raptor DBW (drive-by-wire)

Subscribed Topic from Autoware	Published Topic via DBW	Second Topic (accel & brake pedal etc.) or notes
/control/command/control_cmd	/raptor_dbw_interface/accelerator_pedal_cmd	/raptor_dbw_interface/brake_cmd&/raptor_dbw_interface/steering_cmd
/vehicle/command/actuation_cmd	/raptor_dbw_interface/accelerator_pedal_cmd	/raptor_dbw_interface/brake_cmd&/raptor_dbw_interface/steering_cmd
/control/command/gear_cmd	/raptor_dbw_interface/gear_cmd	gear command
/control/command/turn_indicators_cmd	/raptor_dbw_interface/misc_cmd	turn indicators command
/control/command/hazard_lights_cmd	/raptor_dbw_interface/misc_cmd	hazard lights command
/vehicle/engage	/raptor_dbw_interface/global_enable_cmd	engage command
/control/command/emergency_cmd	/raptor_dbw_interface/accelerator_pedal_cmd	/raptor_dbw_interface/brake_cmd&/raptor_dbw_interface/steering_cmd

Subscribed Topic from DBW	Published Topic via Autoware	Second Topic (accel & brake pedal etc.) or notes
/raptor_dbw_interface/steering_report	/vehicle/status/steering_status	current steering wheel angle
/raptor_dbw_interface/wheel_speed_report	odometry	current wheel speed
/raptor_dbw_interface/accelerator_pedal_report	/vehicle/status/actuation_status	current accel pedal
/raptor_dbw_interface/brake_report	/vehicle/status/actuation_status	current brake pedal
/raptor_dbw_interface/gear_report	/vehicle/status/gear_status	current gear status
/raptor_dbw_interface/driver_input_report	/vehicle/status/turn_indicators_status	current turn indicators status
/raptor_dbw_interface/driver_input_report	'/vehicle/status/hazard_lights_status'	current hazard lights status
/raptor_dbw_interface/misc_report	/vehicle/status/velocity_status	current velocity of the vehicle

Input / Output Topics and Their Message Types

Input Topics

• From Autoware

  Topic	Type	Description
  /control/command/control_cmd	autoware_control_msgs::msg::Control	lateral and longitudinal control command
  /control/command/gear_cmd	autoware_vehicle_msgs::msg::GearCommand	gear command
  /control/command/turn_indicators_cmd	autoware_vehicle_msgs::msg::TurnIndicatorsCommand	turn indicators command
  /control/command/hazard_lights_cmd	autoware_vehicle_msgs::msg::HazardLightsCommand	hazard lights command
  /vehicle/engage	autoware_vehicle_msgs::msg::Engage	engage command
  /vehicle/command/actuation_cmd	tier4_vehicle_msgs::msg::ActuationCommandStamped	actuation (accel/brake pedal, steering wheel) command
  /control/command/emergency_cmd	tier4_vehicle_msgs::msg::VehicleEmergencyStamped	emergency command

• From Raptor DBW

  Topic	Type	Description
  /raptor_dbw_interface/steering_report	raptor_dbw_msgs::msg::SteeringReport	current steering wheel angle
  /raptor_dbw_interface/wheel_speed_report	raptor_dbw_msgs::msg::WheelSpeedReport	current wheel speed
  /raptor_dbw_interface/accelerator_pedal_report	raptor_dbw_msgs::msg::AcceleratorPedalReport	current accel pedal
  /raptor_dbw_interface/brake_report	raptor_dbw_msgs::msg::BrakeReport	current brake pedal
  /raptor_dbw_interface/gear_report	raptor_dbw_msgs::msg::GearReport	current gear status
  /raptor_dbw_interface/driver_input_report	raptor_dbw_msgs::msg::DriverInputReport	current turn indicators status
  /raptor_dbw_interface/misc_report	raptor_dbw_msgs::msg::MiscReport	current velocity of the vehicle

Output Topics

• To Raptor DBW

  Name	Type	Description
  /raptor_dbw_interface/accelerator_pedal_cmd	raptor_dbw_msgs::msg::AcceleratorPedalCmd	accel pedal command (position or vehicle speed
  /raptor_dbw_interface/brake_cmd	raptor_dbw_msgs::msg::BrakeCmd	brake pedal command (position)
  /raptor_dbw_interface/steering_cmd	raptor_dbw_msgs::msg::SteeringCmd	steering wheel angle and angular velocity command
  /raptor_dbw_interface/gear_cmd	raptor_dbw_msgs::msg::GearCmd	gear command
  /raptor_dbw_interface/misc_cmd	raptor_dbw_msgs::msg::MiscCmd	turn indicators and hazard lights command

• To Autoware

  Name	Type	Description
  /vehicle/status/control_mode	autoware_vehicle_msgs::msg::ControlModeReport	control mode (Autonomous or Manual)
  /vehicle/status/velocity_status	autoware_vehicle_msgs::msg::VelocityReport	current velocity of the vehicle
  /vehicle/status/steering_status	autoware_vehicle_msgs::msg::SteeringReport	steering wheel angle
  /vehicle/status/gear_status	autoware_vehicle_msgs::msg::GearReport	gear status
  /vehicle/status/turn_indicators_status	autoware_vehicle_msgs::msg::TurnIndicatorsReport	turn indicators status
  /vehicle/status/hazard_lights_status	autoware_vehicle_msgs::msg::HazardLightsReport	hazard lights status
  /vehicle/status/actuation_status	autoware_vehicle_msgs::msg::ActuationStatusStamped	actuation (accel/brake pedal, steering wheel) status

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Development Path

Autoware → DBW

Timers

• actuation_timer_ → Publishes: /vehicle/status/actuation_status
  Callback: publishActuationStatusTimerCallback

• autoware_cmd_timer_ → Publishes: accel, brake, steering, gear, misc, and enable commands
  Callback: publishAutowareControlCmdTimerCallback

Subscribers

• ackermann_sub_ → listens: /control/command/control_cmd
  Callback: ackermannCmdCallback

• gear_cmd_sub_ → listens: /control/command/gear_cmd
  Callback: gearCmdCallback

• turn_cmd_sub_ → listens: /control/command/turn_indicators_cmd
  Callback: turnCmdCallback

• hazard_cmd_sub_ → listens: /control/command/hazard_lights_cmd
  Callback: hazardCmdCallback

• engage_sub_ → listens: /vehicle/engage
  Callback: engageCallback

Publishers

• accel_pub_ → /raptor_dbw_interface/accelerator_pedal_cmd
  Used in: publishAutowareControlCmdTimerCallback, ackermannCmdCallback

• brake_pub_ → /raptor_dbw_interface/brake_cmd
  Used in: publishAutowareControlCmdTimerCallback, ackermannCmdCallback

• steering_pub_ → /raptor_dbw_interface/steering_cmd
  Used in: publishAutowareControlCmdTimerCallback, ackermannCmdCallback

• gear_pub_ → /raptor_dbw_interface/gear_cmd
  Used in: publishAutowareControlCmdTimerCallback, gearCmdCallback

• enable_pub_ → /raptor_dbw_interface/global_enable_cmd
  Used in: publishAutowareControlCmdTimerCallback, engageCallback

• misc_pub_ → /raptor_dbw_interface/misc_cmd
  Used in: publishAutowareControlCmdTimerCallback, turnCmdCallback, hazardCmdCallback

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DBW → Autoware

Subscribers

• steering_report_sub_ → listens: /raptor_dbw_interface/steering_report
  Callback: steeringReportCallback

• accel_report_sub_ → listens: /raptor_dbw_interface/accelerator_pedal_report
  Callback: accelReportCallback

• brake_report_sub_ → listens: /raptor_dbw_interface/brake_report
  Callback: brakeReportCallback

• wheel_speed_report_sub_ → listens: /raptor_dbw_interface/wheel_speed_report
  Callback: wheelSpeedReportCallback

• gear_report_sub_ → listens: /raptor_dbw_interface/gear_report
  Callback: gearReportCallback

• driver_input_report_sub_ → listens: /raptor_dbw_interface/driver_input_report
  Callback: driverInputReportCallback

• misc_report_sub_ → listens: /raptor_dbw_interface/misc_report
  Callback: miscReportCallback

Publishers

• steering_status_pub_ → /vehicle/status/steering_status
  Published in: steeringReportCallback

• velocity_pub_ → /vehicle/status/velocity_status
  Published in: miscReportCallback

• control_mode_pub_ → /vehicle/status/control_mode
  Published in: miscReportCallback

• gear_status_pub_ → /vehicle/status/gear_status
  Published in: gearReportCallback

• turn_indicators_pub_ → /vehicle/status/turn_indicators_status
  Published in: driverInputReportCallback

• hazard_lights_pub_ → /vehicle/status/hazard_lights_status
  Published in: driverInputReportCallback

• actuation_status_pub_ → /vehicle/status/actuation_status
  Published in: publishActuationStatusTimerCallback, updated in: accelReportCallback, brakeReportCallback, steeringReportCallback

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Summary

• Subscribers (12) → each has a dedicated callback
• Publishers (11) → triggered inside corresponding callbacks/timers

Execution flow:

• ackermannCmdCallback → accel, brake, steering | fill messages (from control_cmd)
• gearCmdCallback → gear | fill message (from gear_cmd)
• turnCmdCallback + hazardCmdCallback → misc | fill messages (from turn/hazard commands)
• engageCallback → enable | fill message (from engage flag)
• steeringReportCallback → steering_status, actuation_status (steer) | publish steering_status, update actuation_status
• accelReportCallback → actuation_status (accel) | update actuation_status only
• brakeReportCallback → actuation_status (brake) | update actuation_status only
• driverInputReportCallback → turn_indicators, hazard_lights | publish turn/hazard reports
• miscReportCallback → velocity, control_mode | publish velocity & control_mode
• publishActuationStatusTimerCallback → actuation_status | publish periodically (actuation status)
• publishAutowareControlCmdTimerCallback → accel, brake, steering, gear, misc, enable | publish all control commands periodically

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TO DO List

• Local odometry data can be provided using encoder values. DBW already publishes wheel speed and wheel position on the following topics: /raptor_dbw_interface/wheel_speed_report & /raptor_dbw_interface/wheel_position_report

• Velocity status should be derived from the average velocity of all wheels, using the /raptor_dbw_interface/wheel_speed_report topic.

• Control mode status is currently published inside the misc callback. This logic should be moved into the enable callback for better structure.

• The vehicle interface package currently supports velocity-reference-based driving; integrate it to also support pedal-position-based reference from Autoware.

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