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Home / Iop_v3ServiceSet / LeaderFollowerDriver


Version: 1.1
ID: urn:jaus:jss:iop:LeaderFollowerDriver
Inherits From:
extended byurn:jaus:jss:core:Management v1.1
extended byurn:jaus:jss:core:AccessControl v1.1
extended byurn:jaus:jss:core:Events v1.1
extended byurn:jaus:jss:core:Transport v1.0

The Leader Follower Driver Service provides a mechanism for following the path of a leader. A leader can be identified by the ID of its Global Pose Sensor Service, or may be implicitly known by the implementation. In addition, a leader may host the Leader Management Service, which allows a follower vehicle to adjust the speed of the lead vehicle to compensate for delays encountered, such as local obstacles, traffic conditions, etc.

Internal Event Set

Message Set
Message ID Name
FFF3h QueryFollowerConfiguration
FFF4h ReportFollowerConfiguration
FFF2h SetFollowerConfiguration
FFF1h SetFollowerState

State Machine Diagram

LeaderFollowerDriver State Machine Diagram
State Transitions
Label Transition Trigger Conditional Actions
B LeaderFollowerDriverControlledLoop SetFollowerConfiguration isControllingClient setFollowerValues
A LeaderFollowerDriverDefaultLoop QueryFollowerConfiguration sendReportFollowerConfiguration
C LeaderFollowerDriverReadyLoop SetFollowerState isControllingClient setFollowerState

Action Name Type Description
sendReportFollowerConfiguration Send Action Send a Report Follower Configuration message
Output Message: ReportFollowerConfiguration
setFollowerState Set the specified follower state
setFollowerValues Set the specified configuration values

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Portions Copyright © OpenJAUS LLC.
The information above is generated from the JAUS Services modelled in the OpenJAUS SDK using OpenJAUS Service Studio. It is provided as a resource to assist JAUS developers and is not a substitute for the JAUS Standards Documents which may be obtained from the SAE International.

Generated on 07/17/2019 from iop_v3.ojss