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#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| update_rate | integer | Timer callback frequency [Hz] | 10 | N/A |
| min_acceleration | float | Minimum acceleration for comfortable stop [m/s^2] | -1 | N/A |
| max_jerk | float | Maximum jerk for comfortable stop [m/s^3] | 0.3 | N/A |
| min_jerk | float | Minimum jerk for comfortable stop [m/s^3] | -0.3 | N/A |
Assumptions / Known limits#
TBD.