I recently upgraded to 1.11 and used the new ssc_interface node (previously as_interface). I am an employee of AutonomouStuff, so we have access to an SSC and vehicle to test in.
In order for me to get the vehicle to actually drive autonomously, I needed to make this change:
so that it listens to the twist command issued by pure_pursuit.
This raised a few questions for me:
- Why does the VehicleCmd msg have two different sets of commands in it? (twist cmd and actuation cmds). They seem like they would conflict with each other. EDIT: I just realized there are actually 3 different sets of commands: “
geometry_msgs/TwistStamped twist_cmd”, “
autoware_msgs/ControlCommand ctrl_cmd”, and also the steer_cmd, brake_cmd, accel_cmd?
- What actually publishes those actuation (brake, steer, accel) commands? or the ctrl_cmd? I noticed the twist_gate subscribes to them, but I’m not sure what actually publishes those commands (Isn’t pure_pursuit responsible for generating control commands in the twist format?)
I’m just confused about what the typical use-case is for the ssc_interface.
Any clarification is greatly appreciated!