feat(tier4_control_msgs): add accept start interface

[isamu-takagi]

Signed-off-by: Takagi, Isamu isamu.takagi@tier4.jp

Related Links

autowarefoundation/autoware.universe#1808

Description

Add the accept start message to hook vehicle starting.

Remarks

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[kenji-miyake]

When will this data be true/false?

[isamu-takagi]

Whether the target velocity is zero or not. This is done for the command selected by the operation mode.

https://github.com/autowarefoundation/autoware.universe/pull/1810/files#diff-c6cb4d89b8200c23b9b1122c4fe09f7d632739fa755790bb015985d2ec4249b1R53-R56

https://github.com/autowarefoundation/autoware.universe/pull/1810/files#diff-e9575d30dc30d07fd3f0a0786f4264f368cd0747acef3e5fc77d1e50b1252a48R413

[kenji-miyake]

I see. How about asking @maxime-clem about the naming?
From the word WillMove, I personally feel it's one time only.

[maxime-clem]

I am sorry I am not familiar with the PauseInterface.
What I understand:

• The command gate can be "paused" or "unpaused".
• If "unpaused", the control command is used.
• If "paused", the control command is no longer used.
• If "paused", a stopping command is used.
• In both cases, a message is published to indicate if the control command has a velocity of 0 or not.

What do you think about changing WillMove to something like MovingControlCmd or StoppedControlCmd (true if velocity = 0) ?

[isamu-takagi]

@kenji-miyake @maxime-clem
Thank you. That's right. This is a function that pauses the vehicle to insert processing when the vehicle starts. IsPaused is a pause state and WillMove is used to check if the vehicle is about to depart.

I feel MovingControlCmd is a command rather than a bool. So how do you feel about IsRequestingDeparture or IsStartRequesting?

[kenji-miyake]

IsRequestingDeparture sounds good to me, but then should we also rename the state name? 🤔
Or IsStartRequesting might be acceptable.

[maxime-clem]

Sorry my suggestion was not good and I understand how it could be confused with a control command 😞
My issue with IsRequestingDeparture (and IsStartRequesting) is that it sounds like the command gate is the one requesting departure. However, the message informs about the state (requesting to move or not) of the input of the command gate.

I would thus suggest to change to isDepartureRequested.