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fix(vehicle_cmd_gate): fix the problems while transition from/to stopped state (#5183) #1328

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merged 1 commit into from
Jun 7, 2024
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fix(vehicle_cmd_gate): fix the problems while transition from/to stopped state (#5183) #1328

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19 changes: 17 additions & 2 deletions control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -430,13 +430,17 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands)

// Check engage
if (!is_engaged_) {
filtered_commands.control = createStopControlCmd();
filtered_commands.control.longitudinal = createLongitudinalStopControlCmd();
}

// Check pause. Place this check after all other checks as it needs the final output.
adapi_pause_->update(filtered_commands.control);
if (adapi_pause_->is_paused()) {
filtered_commands.control = createStopControlCmd();
if (is_engaged_) {
filtered_commands.control.longitudinal = createLongitudinalStopControlCmd();
} else {
filtered_commands.control = createStopControlCmd();
}
}

// Check if command filtering option is enable
Expand Down Expand Up @@ -599,6 +603,17 @@ AckermannControlCommand VehicleCmdGate::createStopControlCmd() const
return cmd;
}

LongitudinalCommand VehicleCmdGate::createLongitudinalStopControlCmd() const
{
LongitudinalCommand cmd;
const auto t = this->now();
cmd.stamp = t;
cmd.speed = 0.0;
cmd.acceleration = stop_hold_acceleration_;

return cmd;
}

AckermannControlCommand VehicleCmdGate::createEmergencyStopControlCmd() const
{
AckermannControlCommand cmd;
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2 changes: 2 additions & 0 deletions control/vehicle_cmd_gate/src/vehicle_cmd_gate.hpp
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Expand Up @@ -55,6 +55,7 @@ namespace vehicle_cmd_gate
using autoware_adapi_v1_msgs::msg::MrmState;
using autoware_adapi_v1_msgs::msg::OperationModeState;
using autoware_auto_control_msgs::msg::AckermannControlCommand;
using autoware_auto_control_msgs::msg::LongitudinalCommand;
using autoware_auto_vehicle_msgs::msg::GearCommand;
using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
using autoware_auto_vehicle_msgs::msg::SteeringReport;
Expand Down Expand Up @@ -220,6 +221,7 @@ class VehicleCmdGate : public rclcpp::Node
// Algorithm
AckermannControlCommand prev_control_cmd_;
AckermannControlCommand createStopControlCmd() const;
LongitudinalCommand createLongitudinalStopControlCmd() const;
AckermannControlCommand createEmergencyStopControlCmd() const;

std::shared_ptr<rclcpp::Time> prev_time_;
Expand Down
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