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docs(operation_transition_manager): update readme #4888

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Sep 8, 2023
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docs(operation_transition_manager): update readme #4888

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docs(operation_transition_manager): update readme
TakaHoribe Sep 5, 2023
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TakaHoribe Sep 7, 2023
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22 changes: 21 additions & 1 deletion control/operation_mode_transition_manager/README.md
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Expand Up @@ -25,7 +25,27 @@ There is also an `In Transition` state that occurs during each mode transitions.

## Design

<!-- ## Assumptions / Known limits -->
A rough design of the relationship between `operation_mode_transition_manager`` and the other nodes is shown below.

![transition_rough_structure](image/transition_rough_structure.drawio.svg)

A more detailed structure is below.

![transition_detailed_structure](image/transition_detailed_structure.drawio.svg)

Here we see that `operation_mode_transition_manager` has multiple state transitions as follows

- **AUTOWARE ENABLED <---> DISABLED**
- **ENABLED**: the vehicle is controlled by Autoware.
- **DISABLED**: the vehicle is out of Autoware control, expecting the e.g. manual driving.
- **AUTOWARE ENABLED <---> AUTO/LOCAL/REMOTE/NONE**
- **AUTO**: the vehicle is controlled by Autoware, with the autonomous control command calculated by the planning/control component.
- **LOCAL**: the vehicle is controlled by Autoware, with the locally connected operator, e.g. joystick controller.
- **REMOTE**: the vehicle is controlled by Autoware, with the remotely connected operator.
- **NONE**: the vehicle is not controlled by any operator.
- **IN TRANSITION <---> COMPLETED**
- **IN TRANSITION**: the mode listed above is in the transition process, expecting the former operator to have a responsibility to confirm the transition is completed.
- **COMPLETED**: the mode transition is completed.

## Inputs / Outputs / API

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