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#
Node Parameters#
| Name | Type | Default value | Explanation |
|---|---|---|---|
| update_rate | int | 10 |
Timer callback frequency [Hz] |
Core Parameters#
| Name | Type | Default value | Explanation |
|---|---|---|---|
| min_acceleration | double | -1.0 |
Minimum acceleration for comfortable stop [m/s^2] |
| max_jerk | double | 0.3 |
Maximum jerk for comfortable stop [m/s^3] |
| min_jerk | double | -0.3 |
Minimum jerk for comfortable stop [m/s^3] |
Assumptions / Known limits#
TBD.