connect velocity diag to mrm stop

vehicle_cmd_gate: handle emergency set emergency stop jerk can be stopped on slope Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
tier4 · Sep 17, 2024 · c01072a · c01072a
1 parent a8a92ab
commit c01072a
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Showing 4 changed files with 12 additions and 3 deletions.
diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     update_rate: 10.0
     system_emergency_heartbeat_timeout: 0.5
-    use_emergency_handling: false
+    use_emergency_handling: true
     check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat)
     use_start_request: false
     enable_cmd_limit_filter: true

diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
@@ -9,6 +9,9 @@ units:
       - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
       - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
       - { type: link, link: /autoware/control/performance_monitoring/control_state }
+      - { type: link, link: /control/012-velocity_deviation }
+
+
 
   - path: /autoware/control/local
     type: and
@@ -66,3 +69,9 @@ units:
     type: diag
     node: external_cmd_converter
     name: remote_control_topic_status
+
+  - path: /control/012-velocity_deviation
+    type: diag
+    node: control_validator
+    name: control_validation_velocity_deviation
+    timeout: 1.0
diff --git a/...e_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/...e_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -2,4 +2,4 @@
   ros__parameters:
     update_rate: 30
     target_acceleration: -2.5
-    target_jerk: -1.5
+    target_jerk: -5.0
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -29,7 +29,7 @@
     <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
     <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
 
-    <arg name="use_emergency_handler" value="true"/>
+    <arg name="use_emergency_handler" value="false"/>
     <arg name="mrm_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_handler/mrm_handler.param.yaml"/>
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>