MRM Handler is a node to select a proper MRM from a system failure state contained in OperationModeAvailability.
| Name | Type | Description |
|---|---|---|
/localization/kinematic_state |
nav_msgs::msg::Odometry |
Used to decide whether vehicle is stopped or not |
/system/operation_mode/availability |
tier4_system_msgs::msg::OperationModeAvailability |
Used to select proper MRM from system available mrm behavior contained in operationModeAvailability |
/vehicle/status/control_mode |
autoware_auto_vehicle_msgs::msg::ControlModeReport |
Used to check vehicle mode: autonomous or manual |
/system/mrm/emergency_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM emergency stop operation is available |
/system/mrm/comfortable_stop/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM comfortable stop operation is available |
/system/mrm/pull_over_manager/status |
tier4_system_msgs::msg::MrmBehaviorStatus |
Used to check if MRM pull over operation is available |
/api/operation_mode/state |
autoware_adapi_v1_msgs::msg::OperationModeState |
Used to check whether the current operation mode is AUTO or STOP. |
| Name | Type | Description |
|---|---|---|
/system/emergency/gear_cmd |
autoware_auto_vehicle_msgs::msg::GearCommand |
Required to execute proper MRM (send gear cmd) |
/system/emergency/hazard_lights_cmd |
autoware_auto_vehicle_msgs::msg::HazardLightsCommand |
Required to execute proper MRM (send turn signal cmd) |
/system/fail_safe/mrm_state |
autoware_adapi_v1_msgs::msg::MrmState |
Inform MRM execution state and selected MRM behavior |
/system/mrm/emergency_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM emergency stop |
/system/mrm/comfortable_stop/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM comfortable stop |
/system/mrm/pull_over_manager/operate |
tier4_system_msgs::srv::OperateMrm |
Execution order for MRM pull over |
{{ json_to_markdown("system/mrm_handler/schema/mrm_handler.schema.json") }}
TBD.