feat(path_generator): publish hazard signal (#252)

publish hazard signal (no command)

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

Author: mitukou1109

planning/autoware_path_generator/src/node.cpp

@@ -54,6 +54,8 @@ PathGenerator::PathGenerator(const rclcpp::NodeOptions & node_options)
   turn_signal_publisher_ =
     create_publisher<TurnIndicatorsCommand>("~/output/turn_indicators_cmd", 1);
 
+  hazard_signal_publisher_ = create_publisher<HazardLightsCommand>("~/output/hazard_lights_cmd", 1);
+
   vehicle_info_ = autoware::vehicle_info_utils::VehicleInfoUtils(*this).getVehicleInfo();
 
   const auto params = param_listener_->get_params();
@@ -85,6 +87,11 @@ void PathGenerator::run()
   turn_signal.stamp = now();
   turn_signal_publisher_->publish(turn_signal);
 
+  HazardLightsCommand hazard_signal;
+  hazard_signal.command = HazardLightsCommand::NO_COMMAND;
+  hazard_signal.stamp = now();
+  hazard_signal_publisher_->publish(hazard_signal);
+
   path_publisher_->publish(*path);
 }
 

planning/autoware_path_generator/src/node.hpp

@@ -25,6 +25,7 @@
 #include <autoware_internal_planning_msgs/msg/path_with_lane_id.hpp>
 #include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
+#include <autoware_vehicle_msgs/msg/hazard_lights_command.hpp>
 #include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
 #include <nav_msgs/msg/odometry.hpp>
 
@@ -36,6 +37,7 @@ using autoware_internal_planning_msgs::msg::PathPointWithLaneId;
 using autoware_internal_planning_msgs::msg::PathWithLaneId;
 using autoware_map_msgs::msg::LaneletMapBin;
 using autoware_planning_msgs::msg::LaneletRoute;
+using autoware_vehicle_msgs::msg::HazardLightsCommand;
 using autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
 using nav_msgs::msg::Odometry;
 using ::path_generator::Params;
@@ -67,6 +69,7 @@ class PathGenerator : public rclcpp::Node
   // publisher
   rclcpp::Publisher<PathWithLaneId>::SharedPtr path_publisher_;
   rclcpp::Publisher<TurnIndicatorsCommand>::SharedPtr turn_signal_publisher_;
+  rclcpp::Publisher<HazardLightsCommand>::SharedPtr hazard_signal_publisher_;
 
   rclcpp::TimerBase::SharedPtr timer_;