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

Name	Type	Description	Default	Range
update_rate	integer	Timer callback frequency [Hz]	10	N/A
min_acceleration	float	Minimum acceleration for comfortable stop [m/s^2]	-1	N/A
max_jerk	float	Maximum jerk for comfortable stop [m/s^3]	0.3	N/A
min_jerk	float	Minimum jerk for comfortable stop [m/s^3]	-0.3	N/A

Assumptions / Known limits

TBD.