fix(emergency_handler): fix hazard status timeout #6399
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Signed-off-by: veqcc <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #6399 +/- ##
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Coverage 14.79% 14.79%
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Files 1917 1917
Lines 132157 132137 -20
Branches 39272 39258 -14
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- Hits 19553 19552 -1
+ Misses 90783 90767 -16
+ Partials 21821 21818 -3
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
HansRobo
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* fix(emergency_handler): fix hazard status timeout Signed-off-by: veqcc <[email protected]> Signed-off-by: Kotaro Yoshimoto <[email protected]>
kaigohirao
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…#6399) * fix(emergency_handler): fix hazard status timeout Signed-off-by: veqcc <[email protected]> Signed-off-by: kaigohirao <[email protected]>
karishma1911
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…#6399) * fix(emergency_handler): fix hazard status timeout Signed-off-by: veqcc <[email protected]>
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Description
Fixed how to handle
hazard_statustimeout in emergency_handler.Previously, when
hazard_statustimeout is detected,onTimercallback just changes themrm_stateand publish some commands. However, this is not enough for an MRM operation since no MRM behavior is requested.This Pull Request solved the problem.
Tests performed
Confirmed Planning Simulation works well
Effects on system behavior
When
hazard_statustopic timeouts, MRM emergency stop will be operated.Pre-review checklist for the PR author
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