Introducing Version Control in vehicle_info.param.yaml

[kosuke55]

Background

• The vehicle_info.param.yaml file currently intended to be directly read only by Autoware.
• When external applications need to reference this information, it is assumed they will access it via ADAPI.
• However, ADAPI can only be used after Autoware has launched.
• On the other hand, some applications may require access to this information before Autoware is launched.
  • ex) In scenario testing, concrete scenario containing specific values is generated from logical scenario described by parameters and passed at runtime. In this case, it is desired to use vehicle info for calculating the specific values of parameters before launching.
• If ADAPI is not available, applications will need to directly read the vehicle info file and applications must be able to uniquely identify its format to support multiple versions of vehicle info.

Proposal

• To clarify the format, we will introduce versioning in the vehicle info.
• The current version will be identified as the base version without any changes.
• When the next update occurs, involving additions, deletions, or modifications of elements, we will add a version field.

/**:
  ros__parameters:
    # version: 0.1.0 # uncomment this line in the next update of this file format
    wheel_radius: 0.383 # The radius of the wheel, primarily used for dead reckoning.
    wheel_width: 0.235 # The lateral width of a wheel tire, primarily used for dead reckoning.
    wheel_base: 2.79 # between front wheel center and rear wheel center
    wheel_tread: 1.64 # between left wheel center and right wheel center
    front_overhang: 1.0 # between front wheel center and vehicle front
    rear_overhang: 1.1 # between rear wheel center and vehicle rear
    left_overhang: 0.128 # between left wheel center and vehicle left
    right_overhang: 0.128 # between right wheel center and vehicle right
    vehicle_height: 2.5
    max_steer_angle: 0.70 # [rad]

Additional Information

• The current vehicle info is a set of parameters used in Autoware's planning/control processes, assuming Ackermann steering, but it does not represent the actual physical shape of the vehicle.
• Vehicles other than Ackermann vehicles (e.g., differential two-wheel robots) are expected to be operated using a control converter outside of Autoware.
• There are no plans to support vehicles other than Ackermann vehicles in vehicle info. Therefore, versioning can be managed in a single timeline.
• Assigning versions to the autoware meta-repository to identify corresponding vehicle info could become complicated when customized autoware branches out.
• Since the basic information required for the Ackermann model is already comprehensively covered within the file, updates are expected to be very rare. Therefore, even if versions are assigned to the vehicle info itself, there should be no complication in aligning with autoware's other repositories.

[kosuke55]

@mehmetdogru @xmfcx
I had a discussion with @mitsudome-r @yukkysaito and we agreed on this.
I would like to propose this one from TIER IV and would appreciate any comments if you have any concerns.

[xmfcx]

It makes sense, I don't have any concerns with it. 👍

[mehmetdogru]

Sounds good 👍

[kosuke55]

updated vehicle info docs here in autowarefoundation/autoware.universe#6069