Gear does not change when vehicle stopped

[brkay54]

Hello everyone,

In autoware.universe, gear does not change when vehicle stopped. After initialized vehicle, vehicle's gear is parking until goal_position set. However, when vehicle arrived to goal, autoware keeps gear in drive. I think if the vehicle arrive the goal position, gear should be changed drive to parking.

What do you think about it?

[VRichardJP]

I agree. This functionality is easily implemented in shift_decider node, by subscribing to /autoware/state switching shift to GearCommand::PARK when AutowareState::ARRIVED_GOAL is received. Maybe it would be nice to add a park_on_arrival option to shift_decider node?

[yukkysaito]

I agree. This functionality is easily implemented in shift_decider node, by subscribing to /autoware/state switching shift to GearCommand::PARK when AutowareState::ARRIVED_GOAL is received. Maybe it would be nice to add a park_on_arrival option to shift_decider node?

I agree. 👍

[TakaHoribe]

The proposal of @VRichardJP sounds good to me. The park_on_arrival option is nice, too.

[takayuki5168]

@VRichardJP @brkay54
The PR has been already merged. I guess this discussion can be closed.
autowarefoundation/autoware.universe#1818