autoware_control_command_gate

Overview

This package subscribes to multiple commands, selects one and publish it. Here, unless otherwise specified, command refers to a set of four commands: control, gear, turn_indicators, and hazard_lights. Each command input is identified as a command source, an arbitrary string. The node also applies a nominal filter to the selected commands to correct for obvious abnormal values.

Requirements

• Functional
  • Subscribe to multiple commands as command source.
  • Generate a builtin stop command as command source.
  • Select one from the command sources and publish it.
  • Filter abnormal values in the command selected.
  • Filter the command selected smoothly on mode transition when requested.
  • Support parking mode for humans to explicitly stop the vehicle (T.B.D.).
• Safety
  • Detect timeouts for each command source.
  • Select builtin stop when selected command source is not available.