mrm_comfortable_stop_operator

Purpose

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

Inner-workings / Algorithms

Inputs / Outputs

Input

Name	Type	Description
~/input/mrm/comfortable_stop/operate	tier4_system_msgs::srv::OperateMrm	MRM execution order

Output

Name	Type	Description
~/output/mrm/comfortable_stop/status	tier4_system_msgs::msg::MrmBehaviorStatus	MRM execution status
~/output/velocity_limit	tier4_planning_msgs::msg::VelocityLimit	Velocity limit command
~/output/velocity_limit/clear	tier4_planning_msgs::msg::VelocityLimitClearCommand	Velocity limit clear command

Parameters

Node Parameters

Name	Type	Default value	Explanation
update_rate	int	10	Timer callback frequency [Hz]

Core Parameters

Name	Type	Default value	Explanation
min_acceleration	double	-1.0	Minimum acceleration for comfortable stop [m/s^2]
max_jerk	double	0.3	Maximum jerk for comfortable stop [m/s^3]
min_jerk	double	-0.3	Minimum jerk for comfortable stop [m/s^3]

Assumptions / Known limits

TBD.