autoware_command_mode_switcher

Overview

This package activates the target command mode from the decider node. The activation process for each command mode is implementation dependent, so extensions using plugins are supported. By implementing the required interface, each plugin will be able to operate under the appropriate state transitions.

Status

The switcher node will output the following status depending on the plugin status.

Status	Description
request	This command mode is requested
transition	This command mode transition is in progress
vehicle_gate_selected	The vehicle interface is using this command mode
network_gate_selected	The ECU is selected (if there are multiple ECUs)
command_gate_selected	The command source of this command mode is selected
command_source_exclusive	This is the only command mode using the command source
command_source_enabled	This command mode is enabled
command_source_disabled	This command mode is disabled