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#
Node Parameters#
| Name | Type | Default value | Explanation |
|---|---|---|---|
| update_rate | int | 30 |
Timer callback frequency [Hz] |
Core Parameters#
| Name | Type | Default value | Explanation |
|---|---|---|---|
| target_acceleration | double | -2.5 |
Target acceleration for emergency stop [m/s^2] |
| target_jerk | double | -1.5 |
Target jerk for emergency stop [m/s^3] |
Assumptions / Known limits#
TBD.