This node assigns button actions to topics to be published according to operator status that Autoware has.
- If operator is
AUTONOMOUS
, it functions as delivery reservation button. - If other than 1, it functions as shutdown button.
-
Input
- from autoware.universe
/api/external/get/operator
[tier4_external_api_msgs/msg/operator]:
Operator Status.
- from delivery_reservation_/button_manager
delivery_reservation_button_manager/output/delivery_reservation_button
[autoware_state_machine_msgs/msg/VehicleButton]:
Delivery reservation button input. (this topic is remapped frominput/button
.)
- from autoware.universe
-
Output
- to autoware_state_machine
/delivery_reservation_button
[autoware_state_machine_msgs/msg/VehicleButton]:
Serves as a reservation for delivery. (this topic is remapped fromoutput/button_autonomous
.)
- to shutdown_manager
/shutdown_button
[autoware_state_machine_msgs/msg/VehicleButton]:
Serves as a shutdown operation. (this topic is remapped fromoutput/button_driver
.)
- to autoware_state_machine
This node has no parameters.