Hazard lights activation is not successful

[JonSmet]

Summary

During Freight Emergency Response testing, it was discovered that hazard lights activation from carma-ssc-interface-wrapper fails most of the time when SSCInterfaceWrapper publishes activation commands to the /pacmod/as_rx/hazard_lights_cmd ROS topic.

Version

4.3.0 (Current)

Expected Behavior

When messages are published to the /pacmod/as_rx/hazard_lights_cmd ROS topic with fields set to activate the hazard lights, it is expected that they do activate on the vehicle.

Actual Behavior

When messages are published to the /pacmod/as_rx/hazard_lights_cmd ROS topic with fields set to activate the hazard lights, the hazard lights almost always fail to activate on the vehicle.

Steps to Reproduce the Actual Behavior

1. Start CARMA
2. Run a test scenario in which CARMA publishes hazard lights activation commands (for Freight Emergency Response, this occurs when an ERV is approaching a CARMA vehicle from behind in the same lane, and its time until passing is less than approaching_emergency_vehicle_plugin's 'passing_duration' configuration value).
3. Verify whether hazard lights are activated on the CARMA vehicle.

Related Work

No response