16.3.1

Description

Abstract

This pull request fixes some bugs in Autoware state control in scenario_simulator_v2.

Background

None.

Details

• FieldOperatorApplication::initialize, plan, and engage now wait if the current Autoware state is earlier than expected. This allows Autoware to transition states appropriately even if it takes a long time to process a service request after accepting it.
• The member function FieldOperatorApplication::waitForAutowareStateToBe now takes not only the target state but also the state at the time of the call. This allows state waiting to be performed for that range of states, and also allows the wait to be properly terminated if the state is ahead of the target state (which occurs when the member function is called and the Autoware state changes at the same time).
• The default retry interval for service requests has been extended from 1 second to 3 seconds. This means that requests are rarely resent endlessly when Autoware takes more than 1 second to respond to a service. However, there are no specifications for how long Autoware requires for a service response, and it is also affected by machine specifications, so it is not possible to set an appropriate value based on technical grounds. Therefore, 3 seconds is also just an arbitrary number that has been experimentally verified to not cause any major problems at present.

References

None.

Destructive Changes

None.

Known Limitations

None.

Related Issues