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stop_filter#

Purpose#

When this function did not exist, each node used a different criterion to determine whether the vehicle is stopping or not, resulting that some nodes were in operation of stopping the vehicle and some nodes continued running in the drive mode. This node aims to:

  • apply a uniform stopping decision criterion to several nodes.
  • suppress the control noise by overwriting the velocity and angular velocity with zero.

Inputs / Outputs#

Input#

Name Type Description
input/odom nav_msgs::msg::Odometry localization odometry

Output#

Name Type Description
output/odom nav_msgs::msg::Odometry odometry with suppressed longitudinal and yaw twist
debug/stop_flag tier4_debug_msgs::msg::BoolStamped flag to represent whether the vehicle is stopping or not

Parameters#

Name Type Description
vx_threshold double longitudinal velocity threshold to determine if the vehicle is stopping [m/s] (default: 0.01)
wz_threshold double yaw velocity threshold to determine if the vehicle is stopping [rad/s] (default: 0.01)