Autoware Hazard Lights Selector
Purpose
The Hazard Lights Selector is a node that manages and selects hazard light commands from multiple sources (planning and system) to determine the final hazard lights state of the vehicle.
Inner-workings / Algorithms
The node operates on a timer-based update cycle and implements the following logic:
- Receives hazard light commands from both planning and system sources
- If either source requests hazard lights to be enabled, the final command will be to enable hazard lights
- If neither source requests hazard lights to be enabled, the final command will be to disable hazard lights
- The selected command is published at a configurable update rate
| Name |
Type |
Description |
input/planning/hazard_lights_command |
autoware_vehicle_msgs/msg/HazardLightsCommand |
Hazard lights command from the planning system |
input/system/hazard_lights_command |
autoware_vehicle_msgs/msg/HazardLightsCommand |
Hazard lights command from the system |
Output
| Name |
Type |
Description |
output/hazard_lights_command |
autoware_vehicle_msgs/msg/HazardLightsCommand |
The selected hazard lights command |
Parameters
| Name |
Type |
Default Value |
Description |
update_rate |
int |
10 |
The update rate in Hz for publishing hazard lights commands |
Assumptions / Known limits
(Optional) Error detection and handling
(Optional) References/External links
(Optional) Future extensions / Unimplemented parts