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Commit 25100bb

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Revert "tmp modify for smoother"
This reverts commit a360bd0.
1 parent 07c2171 commit 25100bb

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2 files changed

+1
-17
lines changed

2 files changed

+1
-17
lines changed

planning/motion_velocity_smoother/include/motion_velocity_smoother/motion_velocity_smoother_node.hpp

-3
Original file line numberDiff line numberDiff line change
@@ -39,7 +39,6 @@
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#include "autoware_auto_planning_msgs/msg/trajectory_point.hpp"
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#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
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#include "nav_msgs/msg/odometry.hpp"
42-
#include "tier4_debug_msgs/msg/bool_stamped.hpp" // temporary
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#include "tier4_debug_msgs/msg/float32_stamped.hpp" // temporary
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#include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" // temporary
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#include "tier4_planning_msgs/msg/velocity_limit.hpp" // temporary
@@ -90,8 +89,6 @@ class MotionVelocitySmootherNode : public rclcpp::Node
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rclcpp::Subscription<Trajectory>::SharedPtr sub_current_trajectory_;
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rclcpp::Subscription<VelocityLimit>::SharedPtr sub_external_velocity_limit_;
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rclcpp::Subscription<OperationModeState>::SharedPtr sub_operation_mode_;
93-
rclcpp::Subscription<tier4_debug_msgs::msg::BoolStamped>::SharedPtr sub_tmp_;
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bool break_path_ = false;
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Odometry::ConstSharedPtr current_odometry_ptr_; // current odometry
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AccelWithCovarianceStamped::ConstSharedPtr current_acceleration_ptr_;

planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp

+1-14
Original file line numberDiff line numberDiff line change
@@ -72,11 +72,6 @@ MotionVelocitySmootherNode::MotionVelocitySmootherNode(const rclcpp::NodeOptions
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"~/input/operation_mode_state", 1,
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[this](const OperationModeState::ConstSharedPtr msg) { operation_mode_ = *msg; });
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75-
sub_tmp_ = create_subscription<tier4_debug_msgs::msg::BoolStamped>(
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"/tmp/break_path", 1, [this](const tier4_debug_msgs::msg::BoolStamped::ConstSharedPtr msg) {
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break_path_ = msg->data;
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});
79-
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// parameter update
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set_param_res_ = this->add_on_set_parameters_callback(
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std::bind(&MotionVelocitySmootherNode::onParameter, this, _1));
@@ -506,16 +501,8 @@ void MotionVelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstShar
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flipVelocity(output_resampled);
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}
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509-
if (break_path_) {
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const size_t closest = findNearestIndexFromEgo(output_resampled);
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TrajectoryPoints clipped;
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clipped.insert(clipped.end(), output_resampled.begin(), output_resampled.begin() + closest);
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publishTrajectory(clipped);
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} else {
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publishTrajectory(output_resampled);
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}
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// publish message
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publishTrajectory(output_resampled);
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// publish debug message
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publishStopDistance(output);

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