fix(recovery_node): recover from MRM even duaring manual driving #1777
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Signed-off-by: Tomohito Ando <[email protected]>
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Description
Warning
This change is not merged in main branch because this feature is only used in the specific version.
現状はclear_mrm serviceの呼び出しが自動走行中に限定されているため、
MRM発生 -> OR -> MRMが解消される
となった場合に、clear_mrm serviceが呼び出されずにMRMが解除されない課題があります。
これを解消するため、自動運転中という条件を削除しました。
ロジックの変更としてはこの部分のみで、これ以外は不要となった自動運転状態かどうかを取得する部分の削除です。
Related links
INTERNAL JIRA
How was this PR tested?
simple planning simulatorで確認しました。
Before
diag error発生後に
Autoware ControlをOFFにして、diag errorを解除したが、MRMが継続している。mrm_recovery_before.mp4
After
diag error発生後に
Autoware ControlをOFFにして、diag errorを解除することで、MRMが解消されている。Note
Motionがチャタリングしているのは別の既知課題
mrm_recovery_after.mp4
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.