Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat: daynamic reconfigurable is_mrm_recoverable parameter #1333

Merged
merged 1 commit into from
Jun 12, 2024
Merged

feat: daynamic reconfigurable is_mrm_recoverable parameter #1333

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions system/mrm_handler/include/mrm_handler/mrm_handler_core.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,8 +20,11 @@
#include <optional>
#include <string>
#include <variant>
#include <vector>

// Autoware
#include <tier4_autoware_utils/ros/update_param.hpp>

#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
#include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
#include <autoware_auto_vehicle_msgs/msg/control_mode_report.hpp>
Expand Down Expand Up @@ -119,6 +122,11 @@ class MrmHandler : public rclcpp::Node
autoware_adapi_v1_msgs::msg::MrmState mrm_state_;
void publishMrmState();

// parameter callback
rcl_interfaces::msg::SetParametersResult onParam(
const std::vector<rclcpp::Parameter> & parameters);
OnSetParametersCallbackHandle::SharedPtr set_param_res_;

// Clients
rclcpp::CallbackGroup::SharedPtr client_mrm_pull_over_group_;
rclcpp::Client<tier4_system_msgs::srv::OperateMrm>::SharedPtr client_mrm_pull_over_;
Expand Down
1 change: 1 addition & 0 deletions system/mrm_handler/package.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
<depend>tier4_autoware_utils</depend>
<depend>tier4_system_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
Expand Down
16 changes: 16 additions & 0 deletions system/mrm_handler/src/mrm_handler/mrm_handler_core.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -103,6 +103,9 @@ MrmHandler::MrmHandler() : Node("mrm_handler")
const auto update_period_ns = rclcpp::Rate(param_.update_rate).period();
timer_ = rclcpp::create_timer(
this, get_clock(), update_period_ns, std::bind(&MrmHandler::onTimer, this));

// set parameter callback
set_param_res_ = this->add_on_set_parameters_callback(std::bind(&MrmHandler::onParam, this, _1));
}

void MrmHandler::onOdometry(const nav_msgs::msg::Odometry::ConstSharedPtr msg)
Expand Down Expand Up @@ -168,6 +171,19 @@ void MrmHandler::onOperationModeState(
operation_mode_state_ = msg;
}

rcl_interfaces::msg::SetParametersResult MrmHandler::onParam(
const std::vector<rclcpp::Parameter> & parameters)
{
using tier4_autoware_utils::updateParam;
updateParam<bool>(parameters, "is_mrm_recoverable", param_.is_mrm_recoverable);
if (param_.is_mrm_recoverable) is_mrm_holding_ = false;
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
result.reason = "success";

return result;
}

void MrmHandler::publishHazardCmd()
{
using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
Expand Down
Loading