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
| 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.