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mrm_emergency_stop_operator#

Purpose#

MRM emergency stop operator is a node that generates emergency stop commands according to the emergency stop MRM order.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
~/input/mrm/emergency_stop/operate tier4_system_msgs::srv::OperateMrm MRM execution order
~/input/control/control_cmd autoware_control_msgs::msg::Control Control command output from the last node of the control component. Used for the initial value of the emergency stop command.

Output#

Name Type Description
~/output/mrm/emergency_stop/status tier4_system_msgs::msg::MrmBehaviorStatus MRM execution status
~/output/mrm/emergency_stop/control_cmd autoware_control_msgs::msg::Control Emergency stop command

Parameters#

Node Parameters#

Name Type Default value Explanation
update_rate int 30 Timer callback frequency [Hz]

Core Parameters#

Name Type Default value Explanation
target_acceleration double -2.5 Target acceleration for emergency stop [m/s^2]
target_jerk double -1.5 Target jerk for emergency stop [m/s^3]

Assumptions / Known limits#

TBD.