Pix Chassis Interface

Overview

Pixmoving chassis are driving-by-wire/DbW chassis, which are compatible with self-driving systems. We had designed an interface for Autoware.universe.

Notice

For the source code, please refer to pix_driver.

Before you can use the interface, make sure you have already installed and launched ros2_socketcan in your workspace.

Role

There are three main functions for Pix Chasssis Interface:

• Translation between CAN frames and pix_hooke_driver_msgs
• Conversion of Autoware commands to pix_hooke_driver_msgs
• Conversion of vehicle status in pix_hooke_driver_msgs to Autoware messages

Software Design

Control Command Node

Input

The input to Control Command Node

Input	Topic(Data Type)	Explanation
autonomous driving to vehicle drive control	/pix_hooke/a2v_drivectrl_130 (pix_hooke_driver_msgs/msg/A2vDriveCtrl)	A2vDriveCtrl
autonomous driving to vehicle brake control	/pix_hooke/a2v_brakectrl_131 (pix_hooke_driver_msgs/msg/A2vBrakeCtrl)	A2vBrakeCtrl
autonomous driving to vehicle steering control	/pix_hooke/a2v_steerctrl_132 (pix_hooke_driver_msgs/msg/A2vSteerCtrl)	A2vSteerCtrl
autonomous driving to vehicle control	/pix_hooke/a2v_vehiclectrl_133 (pix_hooke_driver_msgs/msg/A2vVehicleCtrl)	A2vVehicleCtrl
autonomous driving to vehicle motor control	/pix_hooke/a2v_wheelctrl_135 (pix_hooke_driver_msgs/msg/A2vWheelCtrl)	A2vWheelCtrl

A2vDriveCtrl

The detailed contents in A2vDriveCtrl(self-driving to vehicle drive control) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_chassis_driver_en_ctrl	std_msgs/int8	enable/disable longitudinal acceleration contrl {0: 'ACU_CHASSISDRIVERENCTRL_DISABLE', 1: 'ACU_CHASSISDRIVERENCTRL_ENABLE'}
acu_chassis_driver_mode_ctrl	std_msgs/int8	target control mode {0: 'ACU_CHASSISDRIVERMODECTRL_SPEED_CTRL_MODE', 1: 'ACU_CHASSISDRIVERMODECTRL_THROTTLE_CTRL_MODE', 2: 'ACU_CHASSISDRIVERMODECTRL_RESERVE', 3: 'ACU_CHASSISDRIVERMODECTRL_RESERVE'}
acu_chassis_gear_ctrl	std_msgs/int8	target gear {0: 'ACU_CHASSISGEARCTRL_DEFAULT_N', 1: 'ACU_CHASSISGEARCTRL_D', 2: 'ACU_CHASSISGEARCTRL_N', 3: 'ACU_CHASSISGEARCTRL_R'}
acu_chassis_speed_ctrl	std_msgs/float32	Target velocity [m/s]
acu_chassis_throttle_pdl_target	std_msgs/float32	target accel pedal value 0.0-100.0

A2vBrakeCtrl

The detailed contents in A2vBrakeCtrl(self-driving to vehicle brake control) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_chassis_brake_en	std_msgs/int8	enable/disable longitudinal deacceleration contrl 0: 'ACU_CHASSISBRAKEEN_DISABLE', 1: 'ACU_CHASSISBRAKEEN_ENABLE'
acu_chassis_aeb_ctrl	std_msgs/int8	enable/disable AEB 0: 'ACU_CHASSISAEBCTRL_DISABLE', 1: 'ACU_CHASSISAEBCTRL_ENABLE'
acu_chassis_brake_pdl_target	std_msgs/float32	target brake pedal value 0.0-100.0
acu_chassis_epb_ctrl	std_msgs/int8	parking brake control 0: 'ACU_CHASSISEPBCTRL_DEFAULT', 1: 'ACU_CHASSISEPBCTRL_BRAKE', 2: 'ACU_CHASSISEPBCTRL_RELEASE'

A2vSteerCtrl

The detailed contents in A2vSteerCtrl(self-driving to vehicle steering control) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_chassis_steer_en_ctrl	std_msgs/int8	enable/disable lateral/steering contrl {0: 'ACU_CHASSISSTEERENCTRL_DISABLE', 1: 'ACU_CHASSISSTEERENCTRL_ENABLE'}
acu_chassis_steer_mode_ctrl	std_msgs/int8	steering mode {0: 'ACU_CHASSISSTEERMODECTRL_FRONT_ACKERMAN', 1: 'ACU_CHASSISSTEERMODECTRL_SAME_FRONT_AND_BACK', 2: 'ACU_CHASSISSTEERMODECTRL_FRONT_DIFFERENT_BACK', 3: 'ACU_CHASSISSTEERMODECTRL_BACK_ACKRMAN', 4: 'ACU_CHASSISSTEERMODECTRL_FRONT_BACK'}
acu_chassis_steer_angle_target	std_msgs/int32	target steering angle, -500=500 left to right. When ACU_ChassisSteerModeCtrl=ACU_CHASSISSTEERMODECTRL_FRONT_BACK, ACU_ChassisSteerAngleTarget can only control front wheels
acu_chassis_steer_angle_rear_target	std_msgs/int32	target rear steering angle. -500-500. Works only when ACU_ChassisSteerModeCtrl=ACU_CHASSISSTEERMODECTRL_FRONT_BACK
acu_chassis_steer_angle_speed_ctrl	std_msgs/float32	target steering speed 0-500

A2vVehicleCtrl

The detailed contents in A2vVehicleCtrl(self-driving to vehicle Vehicle Control) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_vehicle_pos_lamp_ctrl	std_msgs/int8	positioning lamp contorl {0: 'ACU_VEHICLEPOSLAMPCTRL_OFF', 1: 'ACU_VEHICLEPOSLAMPCTRL_ON'}
acu_vehicle_head_lamp_ctrl	std_msgs/int8	head lamp control {0: 'ACU_VEHICLEHEADLAMPCTRL_OFF', 1: 'ACU_VEHICLEHEADLAMPCTRL_ON'}
acu_vehicle_left_lamp_ctrl	std_msgs/int8	left lamp control {0: 'ACU_VEHICLELEFTLAMPCTRL_OFF', 1: 'ACU_VEHICLELEFTLAMPCTRL_ON'}
acu_vehicle_right_lamp_ctrl	std_msgs/int8	right lamp control {0: 'ACU_VEHICLERIGHTLAMPCTRL_OFF', 1: 'ACU_VEHICLERIGHTLAMPCTRL_ON'}
acu_vehicl_high_beam_ctrl	std_msgs/int8	vehicle high beam control {0: 'ACU_VEHICLEHIGHBEAMCTRL_OFF', 1: 'ACU_VEHICLEHIGHBEAMCTRL_ON'}
acu_vehicle_fog_lamp_ctrl	std_msgs/int8	fog lamp control {0: 'ACU_VEHICLEFOGLAMPCTRL_OFF', 1: 'ACU_VEHICLEFOGLAMPCTRL_ON'}
acu_vehicle_body_light_crtl	std_msgs/int8	body light control {0: 'ACU_VEHICLEBODYLIGHTCTRL_OFF', 1: 'ACU_VEHICLEBODYLIGHTCTRL_ON'}
acu_vehicle_read_light_crtl	std_msgs/int8	reading light control (reserved) {0: 'ACU_VEHICLEREADLIGHTCTRL_OFF', 1: 'ACU_VEHICLEREADLIGHTCTRL_ON'}
acu_vehicle_voice	std_msgs/int8	vehicle voice control (reserved) {0: 'ACU_VEHICLEVOICE_OFF', 1: 'ACU_VEHICLEVOICE_TURN_LEFT', 2: 'ACU_VEHICLEVOICE_TURN_RIGHT', 3: 'ACU_VEHICLEVOICE_BACKWARD'}
acu_vehicle_wipers_crtl	std_msgs/int8	wipers control (reserved) {0: 'ACU_VEHICLEWIPERSCTRL_OFF', 1: 'ACU_VEHICLEWIPERSCTRL_LOW', 2: 'ACU_VEHICLEWIPERSCTRL_MID', 3: 'ACU_VEHICLEWIPERSCTRL_HIGH'}
acu_vehicle_door_crtl	std_msgs/int8	door control (reserved) {0: 'ACU_VEHICLEDOORCTRL_DEFAULT', 1: 'ACU_VEHICLEDOORCTRL_CLOSE', 2: 'ACU_VEHICLEDOORCTRL_OPEN'}
acu_vehicle_window_crtl	std_msgs/int8	window control (reserved) {0: 'ACU_VEHICLEWINDOWCTRL_DEFAULT', 1: 'ACU_VEHICLEWINDOWCTRL_CLOSE', 2: 'ACU_VEHICLEWINDOWCTRL_OPEN'}
acu_chassis_speed_limite_mode	std_msgs/int8	speed limit model {0: 'ACU_CHASSISSPEEDLIMITEMODE_DEFAULT', 1: 'ACU_CHASSISSPEEDLIMITEMODE_LIMIT'}
acu_chassis_speed_limite_val	std_msgs/int32	velocity limit control m/s

A2vWheelCtrl

The detailed contents in A2vWheelCtrl(self-driving to vehicle motor control) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
acu_motor_torque_lf_crtl	std_smgs/float32	left front motor torque control [Nm] -200.0-200.0
acu_motor_torque_rf_crtl	std_smgs/float32	right front motor torque control [Nm] -200.0-200.0
acu_motor_torque_lr_crtl	std_smgs/float32	left rear motor torque control [Nm] -200.0-200.0
acu_motor_torque_rr_crtl	std_smgs/float32	right rear motor torque control [Nm] -200.0-200.0

Output

The ouputs of Control Command Node are can_msgs/Frame to Socket CAN Interface.

Output (to Autoware)	Topic(Data Type)	Explanation
can frame	/to_can_bus (can_msgs/msg/Frame)	control command in CAN Frams

Report Parser Node

Input

The inputs of Report Parser Node are can_msgs/Frame from Socket CAN Interface.

Input (from SocketCAN Interface)	Topic(Data Type)	Explanation
can frame	/from_can_bus (can_msgs/msg/Frame)	control command in CAN Frams

Output

The outputs of Report Parser Node

Output	Topic(Data Type)	Explanation
vehicle to autonomous driving drive status feedback	/pix_hooke/v2a_drivestafb (pix_hooke_driver_msgs/msg/V2aDriveStaFb)	V2aDriveStaFb
vehicle to autonomous driving brake status feedback	/pix_hooke/v2a_brakestafb (pix_hooke_driver_msgs/msg/V2aBrakeStaFb)	V2aBrakeStaFb
vehicle to autonomous driving steering status feedback	/pix_hooke/v2a_steerstafb (pix_hooke_driver_msgs/msg/V2aSteerStaFb)	V2aSteerStaFb
vehicle to autonomous driving vehicle working status feedback	/pix_hooke/v2a_vehicleworkstafb (pix_hooke_driver_msgs/msg/V2aVehicleWorkStaFb)	V2aVehicleWorkStaFb
vehicle to autonomous driving power status feedback	/pix_hooke/v2a_powerstafb (pix_hooke_driver_msgs/msg/V2aPowerStaFb)	V2aPowerStaFb
vehicle to autonomous driving vehicle status feedback	/pix_hooke/v2a_vehiclestafb (pix_hooke_driver_msgs/msg/V2aVehicleStaFb)	V2aVehicleStaFb
vehicle to autonomous driving vehicle fault status feedback	/pix_hooke/v2a_vehiclefltsta (pix_hooke_driver_msgs/msg/V2aVehicleFltSta)	V2aVehicleFltSta
vehicle to autonomous driving chassis wheel speed feedback	/pix_hooke/v2a_chassiswheelrpmfb (pix_hooke_driver_msgs/msg/V2aChassisWheelRpmFb)	V2aChassisWheelRpmFb
vehicle to autonomous driving tire pressure feedback	/pix_hooke/v2a_chassiswheeltirepressfb (pix_hooke_driver_msgs/msg/V2aChassisWheelTirePressFb)	V2aChassisWheelTirePressFb
vehicle to autonomous driving wheel angle feedback	/pix_hooke/v2a_chassiswheelanglefb (pix_hooke_driver_msgs/msg/V2aChassisWheelAngleFb)	V2aChassisWheelAngleFb

V2aDriveStaFb

The detailed contents in V2aDriveStaFb(vehicle to autonomous driving status feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_driver_en_sta	std_msgs/int8	drive enable status feedback {0: 'VCU_CHASSISDRIVERENSTA_DISABLE', 1: 'VCU_CHASSISDRIVERENSTA_ENABLE'}
vcu_chassis_diver_slopover	std_msgs/int8	drive Slop-over status feedback {0: 'VCU_CHASSISDIVERSLOPOVER_NORMAL', 1: 'VCU_CHASSISDIVERSLOPOVER_OVER_SLOP'}
vcu_chassis_driver_mode_sta	std_msgs/int8	drive mode feedback {0: 'VCU_CHASSISDRIVERMODESTA_SPEED_CTRL_MODE', 1: 'VCU_CHASSISDRIVERMODESTA_THROTTLE_CTRL_MODE', 2: 'VCU_CHASSISDRIVERMODESTA_RESERVE', 3: 'VCU_CHASSISDRIVERMODESTA_RESERVE'}
vcu_chassis_gear_fb	std_msgs/int8	gear feedback {0: 'VCU_CHASSISGEARFB_NO_USE', 1: 'VCU_CHASSISGEARFB_D', 2: 'VCU_CHASSISGEARFB_N', 3: 'VCU_CHASSISGEARFB_R'}
vcu_chassis_speed_fb	std_msgs/float32	speed feedback [m/s] -50.0-50.0
vcu_chassis_throttle_padl_fb	std_msgs/float32	pedal value feedback 0.0-100.0
vcu_chassis_accceleration_fb	std_msgs/float32	target accel pedal value [m/s2] -20.0-20.0

V2aBrakeStaFb

The detailed contents in V2aBrakeStaFb(vehicle to autonomous driving braking status feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_brake_en_sta	std_msgs/int8	braking enable status feedback {0: 'VCU_CHASSISBRAKEENSTA_DISABLE', 1: 'VCU_CHASSISBRAKEENSTA_ENABLE'}
vcu_vehicle_brake_lamp_fb	std_msgs/int8	braking lamp status feedback {0: 'VCU_VEHICLEBRAKELAMPFB_OFF', 1: 'VCU_VEHICLEBRAKELAMPFB_ON'}
vcu_chassis_epb_fb	std_msgs/int8	EPB/Parking Brake status feedback {0: 'VCU_CHASSISEPBFB_RELEASE', 1: 'VCU_CHASSISEPBFB_BRAKE', 2: 'VCU_CHASSISEPBFB_RELEASING', 3: 'VCU_CHASSISEPBFB_BRAKING'}
vcu_chassis_brake_padl_fb	std_msgs/float32	braking pedal value feedback 0-100
vcu_aeb_en_sta_fb	std_msgs/int8	AEB enable status feedback {0: 'VCU_AEBENSTAFB_OFF', 1: 'VCU_AEBENSTAFB_ON'}
vcu_aeb_trigger_sta_fb	std_msgs/int8	AEB triggered status feedback {0: 'VCU_AEBTRIGGERSTAFB_OFF', 1: 'VCU_AEBTRIGGERSTAFB_AEB_TRIGGER'}

V2aSteerStaFb

The detailed contents in V2aSteerStaFb(vehicle to autonomous driving steering status feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_steer_en_sta	std_msgs/int8	steering control enable status feedback {0: 'VCU_CHASSISSTEERENSTA_DISABLE', 1: 'VCU_CHASSISSTEERENSTA_ENABLE'}
vcu_chassis_steer_slopover	std_msgs/int8	steering slop-over status feedback {0: 'VCU_CHASSISSTEERSLOPOVER_NORMAL', 1: 'VCU_CHASSISSTEERSLOPOVER_OVER_SLOP'}
vcu_chassis_steer_work_mode	std_msgs/int8	steering work mode feedback {0: 'VCU_CHASSISSTEERWORKMODE_MACHINE', 1: 'VCU_CHASSISSTEERWORKMODE_WIRE', 2: 'VCU_CHASSISSTEERWORKMODE_POWER'}
vcu_chassis_steer_mode_fb	std_msgs/int8	steering mode feedback {0: 'VCU_CHASSISSTEERMODEFB_FRONT_ACKERMAN', 1: 'VCU_CHASSISSTEERMODEFB_SAME_FRONT_AND_BACK', 2: 'VCU_CHASSISSTEERMODEFB_FRONT_DIFFERENT_BACK', 3: 'VCU_CHASSISSTEERMODEFB_BACK_ACKRMAN', 4: 'VCU_CHASSISSTEERMODEFB_FRONT_BACK'}
vcu_chassis_steer_angle_fb	std_msgs/int32	steering angle of front steering wheel [deg] -500-500
vcu_chassis_steer_angle_rear_fb	std_msgs/int32	steering angle of rear steering wheel [deg] -500-500
vcu_chassis_steer_angle_speed_fb	std_msgs/float32	angular speed of steering wheel [deg/s] 0-500

V2aVehicleWorkStaFb

The detailed contents in V2aVehicleWorkStaFb(vehicle to autonomous driving vehicle work status feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_driving_mode_fb	std_msgs/int8	vcu driving mode feedback {0: 'VCU_DRIVINGMODEFB_STANDBY', 1: 'VCU_DRIVINGMODEFB_SELF_DRIVING', 2: 'VCU_DRIVINGMODEFB_REMOTE', 3: 'VCU_DRIVINGMODEFB_MAN'}
vcu_chassis_power_sta_fb	std_msgs/int8	power status feedback {0: 'VCU_CHASSISPOWERSTAFB_INIT', 1: 'VCU_CHASSISPOWERSTAFB_ON_ACC', 2: 'VCU_CHASSISPOWERSTAFB_READY', 3: 'VCU_CHASSISPOWERSTAFB_OFF'}
vcu_chassis_power_dc_sta	std_msgs/int8	DC working status feedback {0: 'VCU_CHASSISPOWERDCSTA_OFF', 1: 'VCU_CHASSISPOWERDCSTA_ON', 2: 'VCU_CHASSISPOWERDCSTA_STANDBY'}
vcu_chassis_speed_limited_mode_fb	std_msgs/int8	speed limit mode status feedback {0: 'VCU_CHASSISSPEEDLIMITEDMODEFB_DEFAULT', 1: 'VCU_CHASSISSPEEDLIMITEDMODEFB_LIMIT'}
vcu_chassis_power_limite_sta	std_msgs/int8	power limit status feedback {0: 'VCU_CHASSISPOWERLIMITESTA_DEFAULT', 1: 'VCU_CHASSISPOWERLIMITESTA_LIMIT'}
vcu_sys_eco_mode	std_msgs/int8	Eco mode feedback {0: 'VCU_SYSECOMODE_DEFAULT', 1: 'VCU_SYSECOMODE_ECO', 2: 'VCU_SYSECOMODE_SPORT'}
vcu_chassis_speed_limited_val_fb	std_msgs/float32	speed limit feedback [m/s] 0.0-50.0
vcu_chassis_low_power_volt_sta	std_msgs/float32	low-voltage/small battery voltage status feedback [V] 0-25
vcu_chassis_e_stop_sta_fb	std_msgs/int8	E-stop status feedback {0: 'VCU_CHASSISESTOPSTAFB_NO', 1: 'VCU_CHASSISESTOPSTAFB_CHASSIS_ESTOP', 2: 'VCU_CHASSISESTOPSTAFB_REMOTE_ESTOP', 3: 'VCU_CHASSISESTOPSTAFB_CHASSIS_ERR_ESTOP'}
vcu_crash_front_sta	std_msgs/int8	front crash status feedback {0: 'VCU_CRASHFRONTSTA_OFF', 1: 'VCU_CRASHFRONTSTA_COLLIDE'}
vcu_crash_rear_sta	std_msgs/int8	rear crash status feedback {0: 'VCU_CRASHREARSTA_OFF', 1: 'VCU_CRASHREARSTA_COLLIDE'}
vcu_crash_left_sta	std_msgs/int8	left crash status feedback {0: 'VCU_CRASHLEFTSTA_OFF', 1: 'VCU_CRASHLEFTSTA_COLLIDE'}
vcu_crash_right_sta	std_msgs/int8	right crash status feedback {0: 'VCU_CRASHLEFTSTA_OFF', 1: 'VCU_CRASHLEFTSTA_COLLIDE'}
vcu_life	std_msgs/int32	life cycle count 0-255
vcu_check_sum	std_msgs/int32	check sum

V2aPowerStaFb

The detailed contents in V2aPowerStaFb(vehicle to autonomous driving power status feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_bms_reserved_1	std_msgs/int32	reserved position
vcu_chassis_power_charge_sta	std_msgs/int8	charging status feedback {0: 'VCU_CHASSISPOWERCHARGESTA_NO_CHARGE', 1: 'VCU_CHASSISPOWERCHARGESTA_CHARGE', 2: 'VCU_CHASSISPOWERCHARGESTA_CHARGE_FULL'}
vcu_chassis_power_charge_sock_sta	std_msgs/int8	charging socket status feedback {0: 'VCU_CHASSISPOWERCHARGESOCKSTA_NO_CONNECT', 1: 'VCU_CHASSISPOWERCHARGESOCKSTA_CONNECT'}
vcu_chassis_power_soc_fb	std_msgs/int32	power battery SOC feedback [%] 0-100
vcu_chassis_power_volt_fb	std_msgs/float32	power battery voltage feedback [V] 0.0-1000.0
vcu_chassis_power_curr_fb	std_msgs/float32	power battery current feedback [A] -1000.0-1000.0
vcu_chassis_bms_max_temp	std_msgs/int32	BMX max temperature feedback [°C] -40-80
vcu_chassis_bms_reserved_2	std_msgs/int32	reserved position

V2aVehicleStaFb

The detailed contents in V2aVehicleStaFb(vehicle to autonomous driving vehicle status feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_vehicle_pos_lamp_fb	std_msgs/int8	Positioning lamp feedback {0: 'VCU_VEHICLEPOSLAMPFB_OFF', 1: 'VCU_VEHICLEPOSLAMPFB_ON'}
vcu_vehicle_head_lamp_fb	std_msgs/int8	head lamp feedback {0: 'VCU_VEHICLEHEADLAMPFB_OFF', 1: 'VCU_VEHICLEHEADLAMPFB_ON'}
vcu_vehicle_left_lamp_fb	std_msgs/int8	left lamp feedback {0: 'VCU_VEHICLELEFTLAMPFB_OFF', 1: 'VCU_VEHICLELEFTLAMPFB_ON'}
vcu_vehicle_right_lamp_fb	std_msgs/int8	right lamp feedback {0: 'VCU_VEHICLERIGHTLAMPFB_OFF', 1: 'VCU_VEHICLERIGHTLAMPFB_ON'}
vcu_vehicle_high_beam_fb	std_msgs/int8	high beam feedback {0: 'VCU_VEHICLEHIGHBEAMFB_OFF', 1: 'VCU_VEHICLEHIGHBEAMFB_ON'}
vcu_vehicle_fog_lamp_fb	std_msgs/int8	fog lamp feedback {0: 'VCU_VEHICLEFOGLAMPFB_OFF', 1: 'VCU_VEHICLEFOGLAMPFB_ON'}
vcu_vehicle_hazard_war_lamp_fb	std_msgs/int8	hazard warning lamp feedback {0: 'VCU_VEHICLEHAZARDWARLAMPFB_OFF', 1: 'VCU_VEHICLEHAZARDWARLAMPFB_ON'}
vcu_vehicle_body_lamp_fb	std_msgs/int8	body lamp feedback {0: 'VCU_VEHICLEBODYLAMPFB_OFF', 1: 'VCU_VEHICLEBODYLAMPFB_ON'}
vcu_vehicle_read_lamp_fb	std_msgs/int8	reading lamp feedback {0: 'VCU_VEHICLEREADLAMPFB_OFF', 1: 'VCU_VEHICLEREADLAMPFB_ON'}
acu_vehicle_window_fb	std_msgs/int8	window feedback {0: 'ACU_VEHICLEWINDOWFB_INVALID', 1: 'ACU_VEHICLEWINDOWFB_OPENING', 2: 'ACU_VEHICLEWINDOWFB_CLOSING', 3: 'ACU_VEHICLEWINDOWFB_OPEN_INPLACE', 4: 'ACU_VEHICLEWINDOWFB_CLOSE_INPLACE', 5: 'ACU_VEHICLEWINDOWFB_OPEN_TIMEOUT', 6: 'ACU_VEHICLEWINDOWFB_CLOSE_TIMEOUT'}
vcu_vehicle_door_sta_fb	std_msgs/int8	door status feedback {0: 'VCU_VEHICLEDOORSTAFB_INVALID', 1: 'VCU_VEHICLEDOORSTAFB_OPENING', 2: 'VCU_VEHICLEDOORSTAFB_CLOSING', 3: 'VCU_VEHICLEDOORSTAFB_OPEN_INPLACE', 4: 'VCU_VEHICLEDOORSTAFB_CLOSE_INPLACE', 5: 'VCU_VEHICLEDOORSTAFB_OPEN_TIMEOUT', 6: 'VCU_VEHICLEDOORSTAFB_CLOSE_TIMEOUT'}
vcu_vehicle_wipers_sta_fb	std_msgs/int8	wiper status feedback {0: 'VCU_VEHICLEWIPERSSTAFB_OFF', 1: 'VCU_VEHICLEWIPERSSTAFB_LOW', 2: 'VCU_VEHICLEWIPERSSTAFB_MID', 3: 'VCU_VEHICLEWIPERSSTAFB_HIGH'}
vcu_vehicle_safety_belt_1	std_msgs/int8	safty belt 1 feedback {0: 'VCU_VEHICLESAFETYBELT1_NO', 1: 'VCU_VEHICLESAFETYBELT1_SIT', 2: 'VCU_VEHICLESAFETYBELT1_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT1_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_2	std_msgs/int8	safty belt 2 feedback {0: 'VCU_VEHICLESAFETYBELT2_NO', 1: 'VCU_VEHICLESAFETYBELT2_SIT', 2: 'VCU_VEHICLESAFETYBELT2_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT2_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_3	std_msgs/int8	safty belt 3 feedback {0: 'VCU_VEHICLESAFETYBELT3_NO', 1: 'VCU_VEHICLESAFETYBELT3_SIT', 2: 'VCU_VEHICLESAFETYBELT3_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT3_UNKNOW_SENSOR_ERROR'}
vcu_vehicle_safety_belt_4	std_msgs/int8	safty belt 4 feedback {0: 'VCU_VEHICLESAFETYBELT4_NO', 1: 'VCU_VEHICLESAFETYBELT4_SIT', 2: 'VCU_VEHICLESAFETYBELT4_SAFETYBELT', 3: 'VCU_VEHICLESAFETYBELT4_UNKNOW_SENSOR_ERROR'}

V2aVehicleFltSta

The detailed contents in V2aVehicleFltSta(vehicle to autonomous driving vehicle fault feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_sys_motor_over_temp_sta	std_msgs/int8	motor system over-temperature status {0: 'VCU_SYSMOTOROVERTEMPSTA_NORMAL', 1: 'VCU_SYSMOTOROVERTEMPSTA_OVER_TEMP'}
vcu_sys_bms_over_temp_sta	std_msgs/int8	BMS over-temperature status {0: 'VCU_SYSBMSOVERTEMPSTA_NORMAL', 1: 'VCU_SYSBMSOVERTEMPSTA_OVER_TEMP'}
vcu_sys_brake_over_temp_sta	std_msgs/int8	braking system over-temperature status {0: 'VCU_SYSBRAKEOVERTEMPSTA_NORMAL', 1: 'VCU_SYSBRAKEOVERTEMPSTA_OVER_TEMP'}
vcu_sys_steer_over_temp_sta	std_msgs/int8	steering system over-temperature status {0: 'VCU_SYSSTEEROVERTEMPSTA_NORMAL', 1: 'VCU_SYSSTEEROVERTEMPSTA_OVER_TEMP'}
vcu_sys_under_volt	std_msgs/int8	battery low-voltage status {0: 'VCU_SYSUNDERVOLT_NORMAL', 1: 'VCU_SYSUNDERVOLT_UNDER_VOLT'}
vcu_sys_flt	std_msgs/int8	system fault {0: 'VCU_SYSFLT_NORMAL', 1: 'VCU_SYSFLT_FAULT_LEVEL_1', 2: 'VCU_SYSFLT_FAULT_LEVEL_2', 3: 'VCU_SYSFLT_FAULT_LEVEL_3', 4: 'VCU_SYSFLT_FAULT_LEVEL_4'}
vcu_sys_brake_flt	std_msgs/int8	braking system fault {0: 'VCU_SYSBRAKEFLT_NORMAL', 1: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_1', 2: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_2', 3: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_3', 4: 'VCU_SYSBRAKEFLT_FAULT_LEVEL_4'}
vcu_sys_parking_flt	std_msgs/int8	parking brake fault {0: 'VCU_SYSPARKINGFLT_NORMAL', 1: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_1', 2: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_2', 3: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_3', 4: 'VCU_SYSPARKINGFLT_FAULT_LEVEL_4'}
vcu_sys_steer_front_flt	std_msgs/int8	front steering system fault {0: 'VCU_SYSSTEERFRONTFLT_NORMAL', 1: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_1', 2: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_2', 3: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_3', 4: 'VCU_SYSSTEERFRONTFLT_FAULT_LEVEL_4'}
vcu_sys_steer_back_flt	std_msgs/int8	rear steering system fault {0: 'VCU_SYSSTEERBACKFLT_NORMAL', 1: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_1', 2: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_2', 3: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_3', 4: 'VCU_SYSSTEERBACKFLT_FAULT_LEVEL_4'}
vcu_sys_motor_lf_flt	std_msgs/int8	left front motor fault {0: 'VCU_SYSMOTORLFFLT_NORMAL', 1: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORLFFLT_FAULT_LEVEL_4'}
vcu_sys_motor_rf_flt	std_msgs/int8	right front motor fault {0: 'VCU_SYSMOTORRFFLT_NORMAL', 1: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORRFFLT_FAULT_LEVEL_4'}
vcu_sys_motor_lr_flt	std_msgs/int8	left rear motor fault {0: 'VCU_SYSMOTORLRFLT_NORMAL', 1: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORLRFLT_FAULT_LEVEL_4'}
vcu_sys_motor_rr_flt	std_msgs/int8	right rear motor fault {0: 'VCU_SYSMOTORRRFLT_NORMAL', 1: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_1', 2: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_2', 3: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_3', 4: 'VCU_SYSMOTORRRFLT_FAULT_LEVEL_4'}
vcu_sys_bms_flt	std_msgs/int8	BMS fault {0: 'VCU_SYSBMSFLT_NORMAL', 1: 'VCU_SYSBMSFLT_FAULT_LEVEL_1', 2: 'VCU_SYSBMSFLT_FAULT_LEVEL_2', 3: 'VCU_SYSBMSFLT_FAULT_LEVEL_3', 4: 'VCU_SYSBMSFLT_FAULT_LEVEL_4'}
vcu_sys_dc_flt	std_msgs/int8	DC system fault {0: 'VCU_SYSDCFLT_NORMAL', 1: 'VCU_SYSDCFLT_FAULT_LEVEL_1', 2: 'VCU_SYSDCFLT_FAULT_LEVEL_2', 3: 'VCU_SYSDCFLT_FAULT_LEVEL_3', 4: 'VCU_SYSDCFLT_FAULT_LEVEL_4'}

V2aChassisWheelRpmFb

The detailed contents in V2aChassisWheelRpmFb(vehicle to autonomous driving vehicle wheel speed feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_wheel_rpm_lf	std_msgs/int32	left front motor speed [rpm] -2000-2000
vcu_chassis_wheel_rpm_rf	std_msgs/int32	right front motor speed [rpm] -2000-2000
vcu_chassis_wheel_rpm_lr	std_msgs/int32	left rear motor speed [rpm] -2000-2000
vcu_chassis_wheel_rpm_rr	std_msgs/int32	right rear motor speed [rpm] -2000-2000

V2aChassisWheelTirePressFb

The detailed contents in V2aChassisWheelTirePressFb(vehicle to autonomous driving tire pressure feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_wheel_tire_press_lf	std_msgs/float32	left front tire pressure [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_rf	std_msgs/float32	right front tire pressure [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_lr	std_msgs/float32	left rear tire pressure [bar] 0.0-20.0
vcu_chassis_wheel_tire_press_rr	std_msgs/float32	right rear tire pressure [bar] 0.0-20.0

V2aChassisWheelAngleFb

The detailed contents in V2aChassisWheelAngleFb(vehicle to autonomous driving steering wheel angle feedback) are as follows.

Content	Data Type	Explanation
header	std_msgs/Header	header
vcu_chassis_wheel_angle_lf	std_msgs/float32	left front steering angle [deg] -90|90
vcu_chassis_wheel_angle_rf	std_msgs/float32	right front steering angle [deg] -90|90
vcu_chassis_wheel_angle_lr	std_msgs/float32	left rear steering angle [deg] -90|90
vcu_chassis_wheel_angle_rr	std_msgs/float32	right rear steering angle [deg] -90|90

Control Converter Node

Input

Input (from Autoware and vehicle feedback)	Topic(Data Type)	Explanation
raw vehicle command	/control/command/actuation_cmd (tier4_vehicle_msgs/msg/ActuationCommandStamped)	raw vehicle command from autoware including Throttle pedal and Braking Pedal
gear command	/control/command/gear_cmd (autoware_auto_vehicle_msgs/msg/GearCommand)	gear command from Autoware Shift Decider
drive status feedback	/pix_hooke/v2a_drivestafb (V2aDriveStaFb)	needs gear status feedback in order to set velocity as 0 when it needs to shift

Output

Output (to Control Command Node)	Topic(Data Type)	Explanation
autonomous driving to vehicle drive control	/pix_hooke/a2v_drivectrl_130 (A2vDriveCtrl)
autonomous driving to vehicle brake control	/pix_hooke/a2v_brakectrl_131 (A2vBrakeCtrl)
autonomous driving to vehicle steering control	/pix_hooke/a2v_steerctrl_132 (A2vSteerCtrl)
autonomous driving to vehicle control	/pix_hooke/a2v_vehiclectrl_133 (A2vVehicleCtrl)

Report Converter Node

Input

Input (from Report Parser Node )	Topic(Data Type)	Explanation
vehicle to autonomous driving drive status feedback	/pix_hooke/v2a_drivestafb (pix_hooke_driver_msgs::msg::V2aDriveStaFb)
vehile eto autonomous driving brake status feedback	/pix_hooke/v2a_brakestafb (pix_hooke_driver_msgs/msg/V2aBrakeStaFb)
vehicle to autonomous driving steering status feedback	/pix_hooke/v2a_steerstafb (pix_hooke_driver_msgs/msg/V2aSteerStaFb)
vehicle to autonomous driving vehicle working status feedback	/pix_hooke/v2a_vehicleworkstafb (pix_hooke_driver_msgs::msg::V2aVehicleWorkStaFb)
vehicle to autonomous driving vehicle status feedback	/pix_hooke/v2a_vehiclestafb (pix_hooke_driver_msgs::msg::V2aVehicleStaFb)

Output

Output (to Autoware)	Topic(Data Type)	Explanation
control mode status	/vehicle/status/control_mode (autoware_auto_vehicle_msgs/msg/ControlModeReport)	vehicle contol mode states to Autoware
velocity status	/vehicle/status/velocity_status (autoware_auto_vehicle_msgs/msg/ControlModeReport)	vehicle lateral and longitudinal velocity status to Autoware [m/s]
steering status	/vehicle/status/steering_status (autoware_auto_vehicle_msgs/msg/SteeringReport)	vehicle steering tire angle status to Autoware [rad]
Shift status	/vehicle/status/gear_status (autoware_auto_vehicle_msgs/msg/GearReport)	vehicle shift to Autoware [-]
Turn indicators status	/vehicle/status/turn_indicators_status (autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport)	vehicle turn indicators status to Autoware [-]
hazard lights status	/vehicle/status/hazard_lights_status (autoware_auto_vehicle_msgs::msg::HazardLightsReport)	vehicle hazard lights status to Autoware [-]
actuation status	/vehicle/status/actuation_status tier4_vehicle_msgs/msg/ActuationStatusStamped	accel, brake and steer status to Autoware for vehicle calibration [0-100]

Reference

• pix_driver
• tier4_autoware_msgs/tier4_vehicle_msgs
• autoware_auto_msgs
• ros2_socketcan