mrm_handler#
Purpose#
MRM Handler is a node to select a proper MRM from a system failure state contained in OperationModeAvailability.
Inner-workings / Algorithms#
State Transitions#
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
/localization/kinematic_state |
nav_msgs::msg::Odometry |
Used to decide whether vehicle is stopped or not |
/system/operation_mode/availability |
tier4_system_msgs::msg::OperationModeAvailability |
Used to select proper MRM from system available mrm behavior contained in operationModeAvailability |
/vehicle/status/control_mode |
autoware_auto_vehicle_msgs::msg::ControlModeReport |
Used to check vehicle mode: autonomous or manual |
/system/mrm/emergency_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM emergency stop operation is available |
/system/mrm/comfortable_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM comfortable stop operation is available |
/system/mrm/pull_over_manager/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM pull over operation is available |
/api/operation_mode/state |
autoware_adapi_v1_msgs::msg::OperationModeState |
Used to check whether the current operation mode is AUTO or STOP. |
Output#
| Name | Type | Description |
|---|---|---|
/system/emergency/gear_cmd |
autoware_auto_vehicle_msgs::msg::GearCommand |
Required to execute proper MRM (send gear cmd) |
/system/emergency/hazard_lights_cmd |
autoware_auto_vehicle_msgs::msg::HazardLightsCommand |
Required to execute proper MRM (send turn signal cmd) |
/system/fail_safe/mrm_state |
autoware_adapi_v1_msgs::msg::MrmState |
Inform MRM execution state and selected MRM behavior |
/system/mrm/emergency_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM emergency stop |
/system/mrm/comfortable_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM comfortable stop |
/system/mrm/pull_over_manager/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM pull over |
Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| update_rate | integer | Timer callback period. | 10 | N/A |
| timeout_operation_mode_availability | float | If the input operation_mode_availability topic cannot be received for more than timeout_operation_mode_availability, vehicle will make an emergency stop. |
0.5 | N/A |
| timeout_call_mrm_behavior | float | If a service is requested to the mrm operator and the response is not returned by timeout_call_mrm_behavior, the timeout occurs. |
0.01 | N/A |
| timeout_cancel_mrm_behavior | float | If a service is requested to the mrm operator and the response is not returned by timeout_cancel_mrm_behavior, the timeout occurs. |
0.01 | N/A |
| use_emergency_holding | boolean | If this parameter is true, the handler does not recover to the NORMAL state. | False | N/A |
| timeout_emergency_recovery | float | If the duration of the EMERGENCY state is longer than timeout_emergency_recovery, it does not recover to the NORMAL state. |
5.0 | N/A |
| use_parking_after_stopped | boolean | If this parameter is true, it will publish PARKING shift command. | false | N/A |
| use_pull_over | boolean | If this parameter is true, operate pull over when latent faults occur. | false | N/A |
| use_comfortable_stop | boolean | If this parameter is true, operate comfortable stop when latent faults occur. | false | N/A |
| turning_hazard_on.emergency | boolean | If this parameter is true, hazard lamps will be turned on during emergency state. | true | N/A |
Assumptions / Known limits#
TBD.