goal_distance_calculator Purpose This node publishes deviation of self-pose from goal pose. Inner-workings / Algorithms Inputs / Outputs Input Name Type Description /planning/mission_planning/route autoware_planning_msgs::msg::Route Used to get goal pose /tf tf2_msgs/TFMessage TF (self-pose) Output Name Type Description deviation/lateral tier4_debug_msgs::msg::Float64Stamped publish lateral deviation of self-pose from goal pose[m] deviation/longitudinal tier4_debug_msgs::msg::Float64Stamped publish longitudinal deviation of self-pose from goal pose[m] deviation/yaw tier4_debug_msgs::msg::Float64Stamped publish yaw deviation of self-pose from goal pose[rad] deviation/yaw_deg tier4_debug_msgs::msg::Float64Stamped publish yaw deviation of self-pose from goal pose[deg] Parameters Node Parameters Name Type Default Value Explanation update_rate double 10.0 Timer callback period. [Hz] Core Parameters Name Type Default Value Explanation oneshot bool true publish deviations just once or repeatedly Assumptions / Known limits TBD.