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feat(mrm_handler): add mrm_handler #6400

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merged 12 commits into from
Feb 28, 2024
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modify: fix mistakes in README
Signed-off-by: TetsuKawa <kawaguchitnon@icloud.com>
TetsuKawa committed Feb 27, 2024
commit 23eb0a0b1b5eb24a33ffa54c4daa18985fab5ba9
4 changes: 2 additions & 2 deletions system/mrm_handler/README.md
Original file line number Diff line number Diff line change
@@ -17,12 +17,12 @@ MRM Handler is a node to select a proper MRM from a system failure state contain
| Name | Type | Description |
| -------------------------------------- | ---------------------------------------------------- | --------------------------------------------------------------------------------------------------- |
| `/localization/kinematic_state` | `nav_msgs::msg::Odometry` | Used to decide whether vehicle is stopped or not |
| `/system/operation_mode/availability` | `autoware_adapi_v1_msgs::msg::OperationModeState` | Used to select proper MRM from system available mrm behavior contained in operationModeAvailability |
| `/system/operation_mode/availability` | `tier4_system_msgs::msg::OperationModeAvailability` | Used to select proper MRM from system available mrm behavior contained in operationModeAvailability |
| `/vehicle/status/control_mode` | `autoware_auto_vehicle_msgs::msg::ControlModeReport` | Used to check vehicle mode: autonomous or manual |
| `/system/mrm/emergency_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM emergency stop operation is available |
| `/system/mrm/comfortable_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM comfortable stop operation is available |
| `/system/mrm/pull_over_manager/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM pull over operation is available |
| `/api/mrm/emergency_stop/status` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check if MRM pull over operation is finished |
| `/api/operation_mode/state` | `tier4_system_msgs::msg::MrmBehaviorStatus` | Used to check whether the current operation mode is AUTO or STOP. |

### Output