This node controls the display patterns of an electronic display board through /dio_ros_driver in order to alert pedestrians and vehicle drivers.
The display patterns of an electronic display board are defined as follows.
| Display patterns | Description |
|---|---|
| Stop | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that it is stopped in driving mode. |
| Running | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that it is in autonomous driving. |
| Obstacle detection | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that it has stopped due to obstacle detection. |
| Turn right | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that it is turning right. |
| Turn left | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that it is turning left. |
| Emergency occurred | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that a system error has occurred. |
| Pressed emergency stop switch | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that the emergency stop switch has been pressed. |
| Hidden | The autonomous vehicle notifies the surrounding pedestrians and vehicle drivers that it is in manual mode. |
The combinations corresponding to the electronic display board status are as follows, and the corresponding DO port numbers can be found in the config file of /dio_ros_driver.
| Display patterns | value0 | value1 | value2 |
|---|---|---|---|
| Stop | 0 | 0 | 0 |
| Running | 1 | 0 | 0 |
| Obstacle detection | 0 | 1 | 0 |
| Turn right | 0 | 0 | 1 |
| Turn left | 1 | 0 | 1 |
| Emergency occurred | 0 | 1 | 1 |
| Pressed emergency stop switch | 1 | 1 | 0 |
| Hidden | 1 | 1 | 1 |
- input
/autoware_state_machine/state[autoware_state_machine_msgs/msg/StateMachine]:
State of the system./diagnostics_err[diagnostic_msgs/msg/DiagnosticArray]:
This message is used to send diagnostic information about the state of the robot.
"status" parameter is an array of "diagnostic_msgs/msg/DiagnosticStatus", and among the elements, those whose "status.name" is "/autoware/vehicle/obstacle_crash" are the pressed state of the emergency stop switch.
If "status.level" is ERROR, it is pressed./vehicle/status/turn_indicators_status[autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport]:
State of turn signal.
- output
/dio/dout_array[dio_ros_driver/msg/DIOArray]:
GPIO output topic for the display patterns of electronic display board.
| Name | Description |
|---|---|
| status_display_manager_config_path | Specify the config file path for /dio_ros_driver that designates the dout port number used for switching the display of the electronic display board. |
| Name | Description |
|---|---|
| dout_ports_array | Specify the dout port numbers used for switching the display of the electronic display board. Prohibited if no element is specified in []. |
| sleep_time_at_running_state | Specify Anti-flicker Sleep timer value for display while running. Default:500ms |