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feat: update mrm handler for mrm v0.6 #1373

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feat: update mrm handler for mrm v0.6 #1373

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1805916
feat: change MrmState.msg to internal one
TetsuKawa Jul 1, 2024
ca43857
Merge branch 'feat/add-mrm-v0.6-launch-based-on-v3.0.0' into feat/upd…
TetsuKawa Jul 1, 2024
81ce6c1
Merge branch 'feat/add-mrm-v0.6-launch-based-on-v3.0.0' into feat/upd…
TetsuKawa Jul 1, 2024
2f958a5
Merge branch 'feat/add-mrm-v0.6-launch-based-on-v3.0.0' into feat/upd…
TetsuKawa Jul 2, 2024
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2 changes: 2 additions & 0 deletions system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@
// Autoware
#include <tier4_autoware_utils/ros/update_param.hpp>

#include <tier4_system_msgs/msg/mrm_state.hpp>
#include <tier4_system_msgs/msg/mrm_behavior.hpp>
#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
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6 changes: 3 additions & 3 deletions system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
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Expand Up @@ -99,7 +99,7 @@
mrm_state_.behavior.type = tier4_system_msgs::msg::MrmBehavior::NONE;
is_operation_mode_availability_timeout = false;

// Timera

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Unknown word (Timera)
const auto update_period_ns = rclcpp::Rate(param_.update_rate).period();
timer_ = rclcpp::create_timer(
this, get_clock(), update_period_ns, std::bind(&MrmHandler::onTimer, this));
Expand Down Expand Up @@ -229,7 +229,7 @@
{
using tier4_system_msgs::msg::MrmBehavior;
using tier4_system_msgs::msg::MrmState;

if (mrm_state_.state == MrmState::NORMAL) {
// Cancel MRM behavior when returning to NORMAL state
const auto current_mrm_behavior = MrmBehavior::NONE;
Expand Down Expand Up @@ -465,9 +465,9 @@

void MrmHandler::updateMrmState()
{
using autoware_auto_vehicle_msgs::msg::ControlModeReport;
using tier4_system_msgs::msg::MrmBehavior;
using tier4_system_msgs::msg::MrmState;
using tier4_system_msgs::msg::MrmBehavior;
using autoware_auto_vehicle_msgs::msg::ControlModeReport;

// Check emergency
const bool is_emergency = isEmergency();
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