Guardian Node

Maintained by Nova

Overview

The guardian node is a diagnostics node created to monitor the individual systems running within Navigator. It consolidates data from our various nodes and outputs overall system state, operating mode, and status.

---

In:

• /requested_mode Mode
  • Receives the requested operationg mode - disabled, manual control, or autonomous control.
• /node_statuses DiagnosticStatus
  • Receives diagnostics information of nodes currently operating in the stack.
• /planning/path Path
  • Receives a path from our planning subsystem.
• /clock Clock

Out:

• /status DiagnosticArray
  • An array of diagnostic information on each running node on the watchlist, with a global status that reflects the overall state at the end of the array.
• /guardian/mode Mode
  • What mode navigator needs to be in based on whether a safety event violation has triggered a disable of the auto or manual mode.

---

function(1)

TODO

function(2)

TODO