ad_service_state_monitor
Purpose
This node manages AutowareState transitions.
Inner-workings / Algorithms
| Name |
Type |
Description |
/planning/mission_planning/route |
autoware_auto_planning_msgs::msg::HADMapRoute |
Subscribe route |
/localization/kinematic_state |
nav_msgs::msg::Odometry |
Used to decide whether vehicle is stopped or not |
/vehicle/state_report |
autoware_auto_vehicle_msgs::msg::ControlModeReport |
Used to check vehicle mode: autonomous or manual. |
Output
| Name |
Type |
Description |
/autoware/engage |
autoware_auto_vehicle_msgs::msg::Engage |
publish disengage flag on AutowareState transition |
/autoware/state |
autoware_auto_system_msgs::msg::AutowareState |
publish AutowareState |
Parameters
Node Parameters
| Name |
Type |
Default Value |
Explanation |
update_rate |
int |
10 |
Timer callback period. |
Core Parameters
| Name |
Type |
Default Value |
Explanation |
th_arrived_distance_m |
double |
1.0 |
threshold distance to check if vehicle has arrived at the route's endpoint |
th_stopped_time_sec |
double |
1.0 |
threshold time to check if vehicle is stopped |
th_stopped_velocity_mps |
double |
0.01 |
threshold velocity to check if vehicle is stopped |
disengage_on_route |
bool |
true |
send disengage flag or not when the route is subscribed |
disengage_on_goal |
bool |
true |
send disengage flag or not when the vehicle is arrived goal |
Assumptions / Known limits
TBD.