cargo_loading_service

Overview

Cargo-Loading Service module gives control instructions to infrastructure.
There are three types of control instructions: process start, end, and error.

Input and Output

• input
  • from in_parking_task_manager
    • /in_parking/state [in_parking_msgs/msg/InParkingStatus]:
      State at vehicle stop points.
  • from v2i_interface
    • /v2i/infrastructer_states [v2i_interface_msgs/msg/InfrastructureStateArray.msg]:
      Loading result notification.
• input service
  • from in_parking_task_manager
    • /in_parking/task[in_parking_msgs/srv/ExecuteInParkingTask.srv]:
      This is a service that is called when it is necessary to cargo loading.
• output
  • to v2i_interface
    • /cargo_loding/infurastructre_commands [v2i_interface_msgs/msg/InfrastructureCommandArray]:
      Control command to V2I infrastructure. It has an array structure to control multiple infrastructures at the same time.

Node Graph

Launch arguments

none