autoware_external_cmd_selector

Purpose

autoware_external_cmd_selector is the package to publish external_control_cmd, gear_cmd, hazard_lights_cmd, heartbeat and turn_indicators_cmd, according to the current mode, which is remote or local.

The current mode is set via service, remote is remotely operated, local is to use the values calculated by Autoware.

Input / Output

Input topics

Name	Type	Description
/api/external/set/command/local/control	TBD	Local. Calculated control value.
/api/external/set/command/local/heartbeat	TBD	Local. Heartbeat.
/api/external/set/command/local/shift	TBD	Local. Gear shift like drive, rear and etc.
/api/external/set/command/local/turn_signal	TBD	Local. Turn signal like left turn, right turn and etc.
/api/external/set/command/remote/control	TBD	Remote. Calculated control value.
/api/external/set/command/remote/heartbeat	TBD	Remote. Heartbeat.
/api/external/set/command/remote/shift	TBD	Remote. Gear shift like drive, rear and etc.
/api/external/set/command/remote/turn_signal	TBD	Remote. Turn signal like left turn, right turn and etc.

Output topics

Name	Type	Description
/control/external_cmd_selector/current_selector_mode	TBD	Current selected mode, remote or local.
/diagnostics	diagnostic_msgs::msg::DiagnosticArray	Check if node is active or not.
/external/selected/external_control_cmd	TBD	Pass through control command with current mode.
/external/selected/gear_cmd	autoware_vehicle_msgs::msg::GearCommand	Pass through gear command with current mode.
/external/selected/hazard_lights_cmd	autoware_vehicle_msgs::msg::HazardLightsCommand	Pass through hazard light with current mode.
/external/selected/heartbeat	TBD	Pass through heartbeat with current mode.
/external/selected/turn_indicators_cmd	autoware_vehicle_msgs::msg::TurnIndicatorsCommand	Pass through turn indicator with current mode.

Parameters

Name	Type	Description	Default	Range
update_rate	float	The rate in Hz at which the external command selector node updates.	10.0	N/A
initial_selector_mode	string	The initial mode for command selection, either 'local' or 'remote'.	local	['local', 'remote']