mrm_emergency_stop_operator
Purpose
MRM emergency stop operator is a node that generates emergency stop commands according to the emergency stop MRM order.
Inner-workings / Algorithms
| Name |
Type |
Description |
~/input/mrm/emergency_stop/operate |
tier4_system_msgs::srv::OperateMrm |
MRM execution order |
~/input/control/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand |
Control command output from the last node of the control component. Used for the initial value of the emergency stop command. |
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Output
| Name |
Type |
Description |
~/output/mrm/emergency_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
MRM execution status |
~/output/mrm/emergency_stop/control_cmd |
autoware_auto_control_msgs::msg::AckermannControlCommand |
Emergency stop command |
Parameters
Node Parameters
| Name |
Type |
Default value |
Explanation |
| update_rate |
int |
30 |
Timer callback frequency [Hz] |
Core Parameters
| Name |
Type |
Default value |
Explanation |
| target_acceleration |
double |
-2.5 |
Target acceleration for emergency stop [m/s^2] |
| target_jerk |
double |
-1.5 |
Target jerk for emergency stop [m/s^3] |
Assumptions / Known limits
TBD.