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feat: add option to use emergency brake commands from vehicle_cmd_gate and … #79

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merged 1 commit into from
Jun 5, 2024
Merged

feat: add option to use emergency brake commands from vehicle_cmd_gate and … #79

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1 change: 1 addition & 0 deletions pacmod_interface/config/pacmod.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
base_frame_id: "base_link"
command_timeout_ms: 1000
loop_rate: 30.0
use_external_emergency_brake: false
emergency_brake: 0.7
max_throttle: 0.4
max_brake: 0.8
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1 change: 1 addition & 0 deletions pacmod_interface/include/pacmod_interface/pacmod_interface.hpp
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Expand Up @@ -139,6 +139,7 @@ class PacmodInterface : public rclcpp::Node
double brake_pedal_offset_; // offset of brake pedal value

double emergency_brake_; // brake command when emergency [m/s^2]
bool use_external_emergency_brake_; // set to true to not use emergency_brake_
double max_throttle_; // max throttle [0~1]
double max_brake_; // max throttle [0~1]
double max_steering_wheel_; // max steering wheel angle [rad]
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6 changes: 5 additions & 1 deletion pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
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Expand Up @@ -37,6 +37,7 @@ PacmodInterface::PacmodInterface()

/* parameters for emergency stop */
emergency_brake_ = declare_parameter("emergency_brake", 0.7);
use_external_emergency_brake_ = declare_parameter("use_external_emergency_brake", false);

/* vehicle parameters */
vgr_coef_a_ = declare_parameter("vgr_coef_a", 15.713);
Expand Down Expand Up @@ -411,7 +412,10 @@ void PacmodInterface::publishCommands()
if (t_out >= 0 && (control_cmd_delta_time_ms > t_out || actuation_cmd_delta_time_ms > t_out)) {
timeouted = true;
}
if (is_emergency_ || timeouted) {
/* check emergency and timeout */
const bool emergency_brake_needed =
(is_emergency_ && !use_external_emergency_brake_) || timeouted;
if (emergency_brake_needed) {
RCLCPP_ERROR(
get_logger(), "Emergency Stopping, emergency = %d, timeouted = %d", is_emergency_, timeouted);
desired_throttle = 0.0;
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