Implement security measures for behavior-based autonomous driving#48
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MarcOlivierFecteau merged 4 commits intoNov 4, 2025
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MarcOlivierFecteau
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Oct 25, 2025
MarcOlivierFecteau
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The unused code is commented out instead of removed to preserve the originally intended logic.
The affected lines are commented out instead of removed to preserve the originally intended logic.
The issue was that the arbitration node didn't check the controller inputs to verify the required buttons for controlling the racecar with the behaviors were pressed, so it sent the command with the highest priority whether or not the deadman switch and the "autopilot-using-behaviors" were pressed, which would have been problematic when testing the behaviors on the racecar (as one can conclude with an autonomous vehicle ignoring the security measures). The arbitration node now checks the `joy` topic for the required inputs, and publishes only the "manual" commands if the requirements aren't met.
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In my opinion, a "Rebase and merge" is the most adequate way to merge this PR. |
The input mode of the Logitech F710 used for the racecar is DirectInput.
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I changed the inputs checked for activating behavior-autonomous driving to match DirectInput (D-mode) mappings. Confirmed working on my personal laptop, so to be (extra) safe, we should also test exercise 4.a of GRO830's lab on a lab PC. |
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