Button output selector

Overview

This node assigns button actions to topics to be published according to operator status that Autoware has.

1. If operator is AUTONOMOUS, it functions as delivery reservation button.
2. If other than 1, it functions as shutdown button.

Input and Output

• Input

  • from autoware.universe
    • /api/external/get/operator [tier4_external_api_msgs/msg/operator]:
      Operator Status.
  • from delivery_reservation_/button_manager
    • delivery_reservation_button_manager/output/delivery_reservation_button [autoware_state_machine_msgs/msg/VehicleButton]:
      Delivery reservation button input. (this topic is remapped from input/button.)

• Output

  • to autoware_state_machine
    • /delivery_reservation_button [autoware_state_machine_msgs/msg/VehicleButton]:
      Serves as a reservation for delivery. (this topic is remapped from output/button_autonomous.)
  • to shutdown_manager
    • /shutdown_button [autoware_state_machine_msgs/msg/VehicleButton]:
      Serves as a shutdown operation. (this topic is remapped from output/button_driver.)

Node Graph

Parameter description

This node has no parameters.