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Motion#

Description#

This API manages the current behavior of the vehicle. Applications can notify the vehicle behavior to the people around and visualize it for operator and passengers.

States#

The motion state manages the stop and start of the vehicle. Once the vehicle has stopped, the state will be STOPPED. After this, when the vehicle tries to start (is still stopped), the state will be STARTING. In this state, calling the start API changes the state to MOVING and the vehicle starts. This mechanism can add processing such as announcements before the vehicle starts. Depending on the configuration, the state can transition directly from STOPPED to MOVING. In the default implementation, the require_accept_start parameter of the /adapi/node/motion node selects this behavior. Its default value is false, so the state changes from STOPPED to MOVING without the start API.

The motion state starts at STOPPED. When the vehicle tries to start, the state changes to STARTING, and the accept start API changes it to MOVING. If the accept is not required, the state changes from STOPPED to MOVING directly. When the vehicle stops, the state changes back to STOPPED. BRAKING is a planned state.STOPPEDSTARTINGMOVINGBRAKINGplannedstart requestedstart canceledaccept startstart requested (accept not required)stopped
The motion state. BRAKING is planned and is not in the message yet.
StateDescription
STOPPEDThe vehicle is stopped.
STARTINGThe vehicle is stopped, but is trying to start.
MOVINGThe vehicle is moving.
BRAKING (planned)The vehicle is decelerating strongly.

BRAKING is a planned state. The MotionState message does not define it yet.