feat(mrm_handler): mrm recoverable option #1316
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TomohitoAndo
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Nov 21, 2024
* implement is_mrm_recoverable option of mrm_handler * add pull over after stopped option * update json schema of mrm_handler Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
TomohitoAndo
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Nov 22, 2024
* implement is_mrm_recoverable option of mrm_handler * add pull over after stopped option * update json schema of mrm_handler Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
TomohitoAndo
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Nov 23, 2024
* feat(mrm_handler): mrm recoverable option (#1316) * implement is_mrm_recoverable option of mrm_handler * add pull over after stopped option * update json schema of mrm_handler Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: implement service for clear MRM behavior (#1511) * implement service for clear MRM behavior * clang format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: implement MRM automatic recovery feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
TetsuKawa
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Dec 1, 2024
* feat(mrm_handler): mrm recoverable option (#1316) * implement is_mrm_recoverable option of mrm_handler * add pull over after stopped option * update json schema of mrm_handler Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: implement service for clear MRM behavior (#1511) * implement service for clear MRM behavior * clang format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: implement MRM automatic recovery feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
TetsuKawa
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Jan 23, 2025
* feat(mrm_handler): mrm recoverable option (#1316) * implement is_mrm_recoverable option of mrm_handler * add pull over after stopped option * update json schema of mrm_handler Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: implement service for clear MRM behavior (#1511) * implement service for clear MRM behavior * clang format Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: implement MRM automatic recovery feature Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * fix typo Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
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Description
Implement two parameters (is_mrm_recoverable and use_pull_over_after_stopped) in mrm_handler.
is_mrm_recoverable is to support the requirement that the normal state is not restored after MRM has been activated once.
use_pull_over_after_stopped is to support the requirement that restarting is not performed after an emergency stop is performed.
Tests performed
In the case of both parameters are FALSE.
The vehicle do not restart even if the diag is released after an emergency stop.
https://github.com/tier4/autoware.universe/assets/19224532/917f54a4-3e90-47d7-a81c-36043dc6ea06
Even if diag is released during pull over, the pull over will be completed.
https://github.com/tier4/autoware.universe/assets/19224532/6ba3df25-a822-4007-a4b5-e373154e51f1
Effects on system behavior
Default parameter does not change system behavior.
Interface changes
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