feat(autoware_vehicle_cmd_gate): prevent steering when vehicle stopping. #1660
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Signed-off-by: Makoto Kurihara <[email protected]>
mkuri
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Nov 26, 2024
…ng. (#1660) chore(autoware_vehicle_cmd_gate): prevent steering when stop Signed-off-by: Makoto Kurihara <[email protected]>
TetsuKawa
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Dec 1, 2024
…ng. (#1660) chore(autoware_vehicle_cmd_gate): prevent steering when stop Signed-off-by: Makoto Kurihara <[email protected]>
TetsuKawa
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Jan 23, 2025
…ng. (#1660) chore(autoware_vehicle_cmd_gate): prevent steering when stop Signed-off-by: Makoto Kurihara <[email protected]>
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Description
Prevent steering when vehicle stopping.
本当の原因はadapiから発行されたpause serviceがvehicle cmd gateで反映されていなさそうなのが問題で、その原因が分かっていない。
暫定対策としてtier/autoware.universeにどの状態でもstop modeでは操舵を使わないようにするoptionを追加します。ただし走行中にstop modeに遷移すると操舵が効かなくなるデグレがありますが、高頻度で据え切りしてしまうより良いと考えての暫定対策。
Related links
https://tier4.atlassian.net/browse/RT0-34156
https://tier4.atlassian.net/browse/RT0-34158
https://star4.slack.com/archives/C074CCKN35E/p1730966121326069
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.