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[pull] main from autowarefoundation:main #207

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Dec 9, 2022
Merged

[pull] main from autowarefoundation:main #207

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8 changes: 8 additions & 0 deletions system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -224,6 +224,10 @@ void EmergencyHandler::callMrmBehavior(
auto request = std::make_shared<tier4_system_msgs::srv::OperateMrm::Request>();
request->operate = true;

if (mrm_behavior == MrmState::NONE) {
RCLCPP_WARN(this->get_logger(), "MRM behavior is None. Do nothing.");
return;
}
if (mrm_behavior == MrmState::COMFORTABLE_STOP) {
auto result = client_mrm_comfortable_stop_->async_send_request(request).get();
if (result->response.success == true) {
Expand Down Expand Up @@ -253,6 +257,10 @@ void EmergencyHandler::cancelMrmBehavior(
auto request = std::make_shared<tier4_system_msgs::srv::OperateMrm::Request>();
request->operate = false;

if (mrm_behavior == MrmState::NONE) {
// Do nothing
return;
}
if (mrm_behavior == MrmState::COMFORTABLE_STOP) {
auto result = client_mrm_comfortable_stop_->async_send_request(request).get();
if (result->response.success == true) {
Expand Down