Status lamp manager for autonomous driving

Overview

This node changes the lighting pattern of the lamp for the operation manager to check the system status.

Lighting patterns are defined as follows;

system status	lighting pattern
System starting up	Blink once every second
Preparing for autonomous driving	Repeat the following; Blinks twice at 0.2 second intervals, and the second light off for 1.5 seconds.
Autonomous driving is available	Light up
System shutting down	Blink once every second
Power off	Off

Input and Output

• input
  • from autoware_state_machine
    • /autoware_state_machine/state [autoware_state_machine_msgs/msg/StateMachine]:
      State of the system.
• output
  • to dio_ros_driver
    • /dio/dout0 [dio_ros_driver/msg/DIOPort]:
      GPIO output topic. (this topic is remapped from /ad_status_lamp_out)

Node Graph

Parameter description

This node has no parameters.