/control/command/turn_indicators_cmd#

Specifications#

Description#

Send the turn indicators change command to the vehicle. The command is ENABLE_RIGHT or ENABLE_LEFT, or DISABLE.

The autoware_component_interface_specs package defines this topic with volatile durability. In the default launch of Autoware, the autoware_vehicle_cmd_gate node publishes the command periodically, at its update_rate of 10 Hz. This node uses transient_local durability, and volatile subscribers also receive its messages. The design intent is different: use transient_local durability and publish only when the command changes. Make sure that the publishers and the subscribers in your system use compatible QoS settings.

Message#

The stamp field is the command sent time. In the case of periodic publication, use the latest time, not the last command change. For the command field, use the valid values listed above. The NO_COMMAND value can be used internally by programs, but will never be sent as a topic.

Errors#

Invalid command: If the vehicle interface receives an undefined command, it is ignored and a diagnostic error is reported.

Support#

This interface is required. If the vehicle does not have turn indicators, always ignore the command.

Limitations#

• Regarding the actual lighting status of the vehicle, hazard lights may have priority.

Use cases#

• Control the vehicle for autonomous driving.
• Relay commands from the operator.

Requirement#

• Support sending the turn indicators command to the vehicle.
• Report the error as diagnostics if an unsupported or unknown command is sent.

Design#

Separation from hazard lights: Hazard lights and turn indicators are defined in separate interfaces to allow independent state management. For example, an autonomous stack might request "Turn Left" for routing, but a safety system might simultaneously request "Hazard Enable" due to an emergency. This simplifies the logic because an autonomous stack and safety system no longer have to worry about their states being overwritten by each other's commands.

Exclusive state: Unlike hazard lights, turn indicators are directional and mutually exclusive (Left vs. Right). Therefore, they are defined as an Enum in a single command interface rather than separate boolean flags.

History#