autoware_redundancy_command_selector

Purpose

This node simulates ECU redundancy switching behavior in autoware_simple_planning_simulator. Instead of switching the output ECU itself in simulation, this node switches between Main ECU and Sub ECU control commands and forwards the selected stream.

Inner-workings / Algorithms

• Subscribe to command topics from both Main ECU and Sub ECU
• Subscribe to /system/redundancy/active_control_unit
• If main_ecu_id is active, forward Main commands
• If sub_ecu_id is active, forward Sub commands
• If both (or neither) are active, keep the current selection to avoid unnecessary switching

Inputs / Outputs

Input

Name	Type	Description
~/input/main/control_command	autoware_control_msgs/msg/Control	Main ECU control command
~/input/main/gear_command	autoware_vehicle_msgs/msg/GearCommand	Main ECU gear command
~/input/main/hazard_lights_command	autoware_vehicle_msgs/msg/HazardLightsCommand	Main ECU hazard lights command
~/input/main/turn_indicators_command	autoware_vehicle_msgs/msg/TurnIndicatorsCommand	Main ECU turn indicators command
~/input/sub/control_command	autoware_control_msgs/msg/Control	Sub ECU control command
~/input/sub/gear_command	autoware_vehicle_msgs/msg/GearCommand	Sub ECU gear command
~/input/sub/hazard_lights_command	autoware_vehicle_msgs/msg/HazardLightsCommand	Sub ECU hazard lights command
~/input/sub/turn_indicators_command	autoware_vehicle_msgs/msg/TurnIndicatorsCommand	Sub ECU turn indicators command
~/input/active_control_unit	tier4_system_msgs/msg/ActiveControlUnit	Active ECU IDs

Output

Name	Type	Description
~/output/control_command	autoware_control_msgs/msg/Control	Selected control command
~/output/gear_command	autoware_vehicle_msgs/msg/GearCommand	Selected gear command
~/output/hazard_lights_command	autoware_vehicle_msgs/msg/HazardLightsCommand	Selected hazard lights command
~/output/turn_indicators_command	autoware_vehicle_msgs/msg/TurnIndicatorsCommand	Selected turn indicators command

Parameters

Name	Type	Description
main_ecu_id	uint8	ECU ID treated as Main
sub_ecu_id	uint8	ECU ID treated as Sub

Launch

• XML launch: launch/redundancy_command_selector.launch.xml

Include this launch file from the simulator-side launch to reproduce redundant ECU switching behavior by switching Main/Sub command streams.