engage service converter

Overview

This node converts a button action from ros topic to service for the Autoware interface.

Input and Output

• input
  • from engage_/button_manager
    • engage_button_manager/output/engage_button [autoware_state_machine_msgs/msg/VehicleButton]:
      Departure button input. (this topic is remapped from /input/engage_button.)
• output
  • to autoware_state_machine
    • /api/external/set/engage [tier4_external_api_msgs/srv/Engage]:
      Departure instructions to Autoware. This interface type is ROS2 service, not ROS2 message.

Node Graph

Parameter description

This node has no parameters.