stop_filter

Purpose

When this function did not exist, each node used a different criterion to determine whether the vehicle is stopping or not, resulting that some nodes were in operation of stopping the vehicle and some nodes continued running in the drive mode. This node aims to:

• apply a uniform stopping decision criterion to several nodes.
• suppress the control noise by overwriting the velocity and angular velocity with zero.

Inputs / Outputs

Input

Name	Type	Description
input/odom	nav_msgs::msg::Odometry	localization odometry

Output

Name	Type	Description
output/odom	nav_msgs::msg::Odometry	odometry with suppressed longitudinal and yaw twist
debug/stop_flag	tier4_debug_msgs::msg::BoolStamped	flag to represent whether the vehicle is stopping or not

Parameters

Name	Type	Description
vx_threshold	double	longitudinal velocity threshold to determine if the vehicle is stopping [m/s] (default: 0.01)
wz_threshold	double	yaw velocity threshold to determine if the vehicle is stopping [rad/s] (default: 0.01)