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Motion API#

Overview#

Provides a hook for when the vehicle starts. It is typically used for announcements that call attention to the surroundings. Add a pause function to the vehicle_cmd_gate, and API will control it based on vehicle stopped and start requested. See the autoware-documentation for AD API specifications.

motion-architecture

States#

The implementation has more detailed state transitions to manage pause state synchronization. The correspondence with the AD API state is as follows.

motion-state