Warning lamp manager

Overview

This node controls warning and emergency lamps through /dio_ros_driver to alert pedestrians and vehicle drivers.

Lighting patterns are defined as follows.

Name	Mode	Description
Warning lamp	Always ON	- Autonomous driving vehicle is in driving mode to alert surrounding pedestrians. - On manual omde. - During system is in shutting down process to prevent not to remove external data storage.
"	One time ON	- When autonomous driving system boots up, system checks this lamp.
"	OFF	- Other cases
Emergency lamp	Always ON	- When the operation is stopped due to a system error
"	One time ON	- When the Autoware receives a engage topic. - When autonomous driving system boots up, system checks this lamp.
"	OFF	- Other cases

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/dout1 [dio_ros_driver/msg/DIOPort]:
      GPIO output topic for emergency lamp. (this topic is remapping from lamp_emergency_out)
    • /dio/dout2 [dio_ros_driver/msg/DIOPort]:
      GPIO output topic for warning lamp. (this topic is remapping from lamp_warning_out)

Node Graph

Lanch arguments

Name	Description
use_overridable_vehicle	If autonomous driving vehicle has a function of override, set this parameter as TRUE. Otherwise set as FALSE. This value overrides on a parameter with same name.

Paramater description

Name	Description
use_overridable_vehicle	If autonomous driving vehicle has a function of override, set this parameter as TRUE. Otherwise set as FALSE.