Possible mismatch of messages. #4887
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nslookupalexios
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Could someone help us? I have the same problem |
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The goal is to use the joy_controller to get autoware_control_msgs/msg/Controls to then provide to a Vehicle Interface we are building.
In particular, however, perhaps there is a mismatch between vehicle_cmd_gate and external_cmd_selector.
From the output of "ros2 node info," we see:
"/external_cmd_selector
Subscribers:
/api/external/set/command/local/control: tier4_external_api_msgs/msg/ControlCommandStamped
/api/external/set/command/local/heartbeat: tier4_external_api_msgs/msg/Heartbeat
/api/external/set/command/local/shift: tier4_external_api_msgs/msg/GearShiftStamped
/api/external/set/command/local/turn_signal: tier4_external_api_msgs/msg/TurnSignalStamped
/api/external/set/command/remote/control: tier4_external_api_msgs/msg/ControlCommandStamped
/api/external/set/command/remote/heartbeat: tier4_external_api_msgs/msg/Heartbeat
/api/external/set/command/remote/shift: tier4_external_api_msgs/msg/GearShiftStamped
/api/external/set/command/remote/turn_signal: tier4_external_api_msgs/msg/TurnSignalStamped
/parameter_events: rcl_interfaces/msg/ParameterEvent
Publishers:
/diagnostics: diagnostic_msgs/msg/DiagnosticArray
/external/selected/external_control_cmd: tier4_external_api_msgs/msg/ControlCommandStamped
/external/selected/gear_cmd: autoware_vehicle_msgs/msg/GearCommand
/external/selected/hazard_lights_cmd: autoware_vehicle_msgs/msg/HazardLightsCommand
/external/selected/heartbeat: tier4_external_api_msgs/msg/Heartbeat
/external/selected/turn_indicators_cmd: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
/external_cmd_selector/current_selector_mode: tier4_control_msgs/msg/ExternalCommandSelectorMode
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
Service Servers:
/external_cmd_selector/describe_parameters: rcl_interfaces/srv/DescribeParameters
/external_cmd_selector/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/external_cmd_selector/get_parameters: rcl_interfaces/srv/GetParameters
/external_cmd_selector/list_parameters: rcl_interfaces/srv/ListParameters
/external_cmd_selector/select_external_command: tier4_control_msgs/srv/ExternalCommandSelect
/external_cmd_selector/set_parameters: rcl_interfaces/srv/SetParameters
/external_cmd_selector/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:
"
On the other hand, when it comes to cmd_gate:
"/vehicle_cmd_gate
Subscribers:
/autoware/engage: autoware_vehicle_msgs/msg/Engage
/control/gate_mode_cmd: tier4_control_msgs/msg/GateMode
/control/shift_decider/gear_cmd: autoware_vehicle_msgs/msg/GearCommand
/external/selected/control_cmd: autoware_control_msgs/msg/Control
/external/selected/gear_cmd: autoware_vehicle_msgs/msg/GearCommand
/external/selected/hazard_lights_cmd: autoware_vehicle_msgs/msg/HazardLightsCommand
/external/selected/heartbeat: tier4_external_api_msgs/msg/Heartbeat
/external/selected/turn_indicators_cmd: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
/input/acceleration: geometry_msgs/msg/AccelWithCovarianceStamped
/input/operation_mode: autoware_adapi_v1_msgs/msg/OperationModeState
/localization/kinematic_state: nav_msgs/msg/Odometry
/parameter_events: rcl_interfaces/msg/ParameterEvent
/planning/hazard_lights_cmd: autoware_vehicle_msgs/msg/HazardLightsCommand
/planning/turn_indicators_cmd: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
/system/emergency/control_cmd: autoware_control_msgs/msg/Control
/system/emergency/gear_cmd: autoware_vehicle_msgs/msg/GearCommand
/system/emergency/hazard_lights_cmd: autoware_vehicle_msgs/msg/HazardLightsCommand
/system/fail_safe/mrm_state: autoware_adapi_v1_msgs/msg/MrmState
/trajectory_follower/control_cmd: autoware_control_msgs/msg/Control
/vehicle/status/steering_status: autoware_vehicle_msgs/msg/SteeringReport
Publishers:
/api/autoware/get/emergency: tier4_external_api_msgs/msg/Emergency
/api/autoware/get/engage: autoware_vehicle_msgs/msg/Engage
/control/command/control_cmd: autoware_control_msgs/msg/Control
/control/command/emergency_cmd: tier4_vehicle_msgs/msg/VehicleEmergencyStamped
/control/command/gear_cmd: autoware_vehicle_msgs/msg/GearCommand
/control/command/hazard_lights_cmd: autoware_vehicle_msgs/msg/HazardLightsCommand
/control/command/turn_indicators_cmd: autoware_vehicle_msgs/msg/TurnIndicatorsCommand
/control/current_gate_mode: tier4_control_msgs/msg/GateMode
/control/vehicle_cmd_gate/is_paused: tier4_control_msgs/msg/IsPaused
/control/vehicle_cmd_gate/is_start_requested: tier4_control_msgs/msg/IsStartRequested
/control/vehicle_cmd_gate/is_stopped: tier4_control_msgs/msg/IsStopped
/diagnostics: diagnostic_msgs/msg/DiagnosticArray
/output/operation_mode: autoware_adapi_v1_msgs/msg/OperationModeState
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
/service_log: tier4_system_msgs/msg/ServiceLog
/vehicle_cmd_gate/is_filter_activated: autoware_vehicle_cmd_gate/msg/IsFilterActivated
/vehicle_cmd_gate/is_filter_activated/flag: tier4_debug_msgs/msg/BoolStamped
/vehicle_cmd_gate/is_filter_activated/marker: visualization_msgs/msg/MarkerArray
/vehicle_cmd_gate/is_filter_activated/marker_raw: visualization_msgs/msg/MarkerArray
Service Servers:
/api/autoware/set/emergency: tier4_external_api_msgs/srv/SetEmergency
/api/autoware/set/engage: tier4_external_api_msgs/srv/Engage
/control/vehicle_cmd_gate/set_pause: tier4_control_msgs/srv/SetPause
/control/vehicle_cmd_gate/set_stop: tier4_control_msgs/srv/SetStop
/vehicle_cmd_gate/clear_external_emergency_stop: std_srvs/srv/Trigger
/vehicle_cmd_gate/config_logger: logging_demo/srv/ConfigLogger
/vehicle_cmd_gate/describe_parameters: rcl_interfaces/srv/DescribeParameters
/vehicle_cmd_gate/external_emergency_stop: std_srvs/srv/Trigger
/vehicle_cmd_gate/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/vehicle_cmd_gate/get_parameters: rcl_interfaces/srv/GetParameters
/vehicle_cmd_gate/list_parameters: rcl_interfaces/srv/ListParameters
/vehicle_cmd_gate/set_parameters: rcl_interfaces/srv/SetParameters
/vehicle_cmd_gate/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
Service Clients:
Action Servers:
Action Clients:
"
Specifically, the topic "/external/selected/control_cmd: autoware_control_msgs/msg/Control" doesn't have publishers. Could this be a problem related to the change of autoware messages in the last few days and thus be a typo that needs to be corrected?
Thank you.
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