Project Launch: Additional nodes for the "cargo transportation" project

Overview

This package manages in-vehicle nodes especially for state management, HMI control, delivery reservation, and Vehicle to Infrastructure (V2I) connection.

Node Graph

Note: This package manages the red colored nodes.

List of managing repositories

• Nodes

  • State management:
    • /autoware_state_machine
  • HMI control:
    • Sound control:
      • /ad_sound_manager
      • /sound_bgm/audio_driver
      • /sound_voice_alarm/audio_driver
    • Lamp control:
      • /ad_status_lamp_manager
      • /delivery_reservation_lamp_manager
      • /warning_lamp_manager
      • /departure_button_lamp_manager
    • Button control:
      • /button_manager
      • /engage_srv_converter
      • /button_output_selector
    • Display control:
      • /status_display_manager
  • Reserved-delivery connection:
    • /go_interface
  • V2I connection:
    • /v2i_interface
  • Shutdown process management:
    • /shutdown_manager

• Message definition

  • State management:
    • autoware_state_machine_msgs
  • HMI control:
    • Sound control:
      • audio_driver_msgs
    • Display control:
      • dio_ros_driver
  • Reserved-delivery connection:
    • go_interface
  • Shutdown process management:
    • shutdown_manager_msgs

• Parameters

  • Reserved-delivery connection:
    • go_interface_params.default
  • V2I connection:
    • v2i_interface_params.default

• Dataset

  • HMI control:
    • Sound control:
      • ad_sound.default

Environment variables

Name	Description
OPR_MODE_V2I	Select one of the operation modes to the v2i connection /v2i_interface from the followings; product, local_test This parameter works as operation_mode.
OPR_MODE_DELY_RSV	Select one of the operation modes to the delivery reserve application /go_interface from the followings; product, server_test, local_test, not_use This parameter works as operation_mode.
ACCESS_TOKEN_DELY_RSV	Specify an access token of the reserve application /go_interface. This setting is reflected in the value of access_token in go_interface.
AD_SOUND_LANGUAGE	Select a sound language in ad_sound_manager. This parameter is same to directory name of the node and works as lang in ad_sound_manager.

Launch arguments

Name	Description
use_overridable_vehicle	If autonomous driving vehicle has a function of override, set this parameter as TRUE. Otherwise set as FALSE.
operation_mode_v2i_infra	Select the operation mode of the V2I interface from the followings; product, local_test This parameter works as operation_mode.
operation_mode_delivery_reservation	Command line of the launcher for overriding OPR_MODE_DELY_RSV1.
access_token_delivery_reservation	Command line of the launcher for overriding ACCESS_TOKEN_DELY_RSV1.
ad_sound_language	Command line of the launcher for overriding AD_SOUND_LANGUAGE1.

Footnotes

1. When an arbitrary value is set, these environment variables are ignored. ↩ ↩² ↩³