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

Inputs / Outputs

Input

Name	Type	Description
~/input/mrm/emergency_stop/operate	tier4_system_msgs::srv::OperateMrm	MRM execution order
~/input/control/control_cmd	autoware_control_msgs::msg::Control	Control command output from the last node of the control component. Used for the initial value of the emergency stop command.

Output

Name	Type	Description
~/output/mrm/emergency_stop/status	tier4_system_msgs::msg::MrmBehaviorStatus	MRM execution status
~/output/mrm/emergency_stop/control_cmd	autoware_control_msgs::msg::Control	Emergency stop command

Parameters

Name	Type	Description	Default	Range
update_rate	integer	Timer callback frequency [Hz]	30	N/A
target_acceleration	float	Target acceleration for emergency stop [m/s^2]	-2.5	N/A
target_jerk	float	Target jerk for emergency stop [m/s^3]	-1.5	N/A

Assumptions / Known limits

TBD.