update docs

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Dec 20, 2024 · 1b3b6c0 · 1b3b6c0
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diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/README.md b/vehicle/autoware_raw_vehicle_cmd_converter/README.md
@@ -45,6 +45,12 @@ vgr_coef_c: 0.042
 When `convert_steer_cmd_method: "vgr"` is selected, the node receives the control command from the controller as the desired tire angle and calculates the desired steering angle to output.
 Also, when `convert_actuation_to_steering_status: true`, this node receives the `actuation_status` topic and calculates the steer tire angle from the `steer_wheel_angle` and publishes it.
 
+### Vehicle Adaptor
+
+**Under development**
+A feature that compensates for control commands according to the dynamic characteristics of the vehicle.
+This feature works when `use_vehicle_adaptor: true` is set and requires `control_horizon` to be enabled, so you need to set `enable_control_cmd_horizon_pub: true` in the trajectory_follower node.
+
 ## Input topics
 
 | Name                       | Type                                       | Description                                                                                                                                                                                                                                                                                       |
@@ -54,6 +60,14 @@ Also, when `convert_actuation_to_steering_status: true`, this node receives the
 | `~/input/odometry`         | navigation_msgs::Odometry                  | twist topic in odometry is used.                                                                                                                                                                                                                                                                  |
 | `~/input/actuation_status` | tier4_vehicle_msgs::msg::ActuationStatus   | actuation status is assumed to receive the same type of status as sent to the vehicle side. For example, if throttle/brake pedal/steer_wheel_angle is sent, the same type of status is received. In the case of steer_wheel_angle, it is used to calculate steer_tire_angle and VGR in this node. |
 
+Input topics when vehicle_adaptor is enabled
+
+| Name                           | Type                                            | Description             |
+| ------------------------------ | ----------------------------------------------- | ----------------------- |
+| `~/input/accel`                | geometry_msgs::msg::AccelWithCovarianceStamped; | acceleration status     |
+| `~/input/operation_mode_state` | autoware_adapi_v1_msgs::msg::OperationModeState | operation mode status   |
+| `~/input/control_horizon`      | autoware_control_msgs::msg::ControlHorizon      | control horizon command |
+
 ## Output topics
 
 | Name                       | Type                                             | Description                                                                                                                          |

diff --git a/...le/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp b/...le/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp
@@ -90,11 +90,11 @@ class RawVehicleCommandConverterNode : public rclcpp::Node
   // polling subscribers
   autoware::universe_utils::InterProcessPollingSubscriber<Odometry> sub_odometry_{
     this, "~/input/odometry"};
+  // polling subscribers for vehicle_adaptor
   autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> sub_accel_{
     this, "~/input/accel"};
   autoware::universe_utils::InterProcessPollingSubscriber<OperationModeState> sub_operation_mode_{
     this, "~/input/operation_mode_state"};
-  // NOTE:
   // control_horizon is an experimental topic, but vehicle_adaptor uses it to improve performance,
   autoware::universe_utils::InterProcessPollingSubscriber<ControlHorizon> sub_control_horizon_{
     this, "~/input/control_horizon"};

diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json b/vehicle/autoware_raw_vehicle_cmd_converter/schema/raw_vehicle_cmd_converter.schema.json
@@ -180,6 +180,11 @@
           "type": "boolean",
           "default": "true",
           "description": "convert actuation to steering status or not. Whether to subscribe to actuation_status and calculate and publish steering_status For example, receive the steering wheel angle and calculate the steering wheel angle based on the gear ratio. If false, the vehicle interface must publish steering_status."
+        },
+        "use_vehicle_adaptor": {
+          "type": "boolean",
+          "default": "false",
+          "description": "flag to enable feature that compensates control commands according to vehicle dynamics."
         }
       },
       "required": [