Merge branch 'main' into fix/distortion_correction_node_unit_test

autowarefoundation · Jul 9, 2024 · 419dea1 · 419dea1
2 parents 58a7cc0 + 1654a57
commit 419dea1
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -90,6 +90,7 @@
           <!-- topic remap -->
           <remap from="~/input/path" to="path_smoother/path"/>
           <remap from="~/input/odometry" to="/localization/kinematic_state"/>
+          <remap from="~/input/objects" to="/perception/object_recognition/objects"/>
           <remap from="~/output/path" to="path_optimizer/trajectory"/>
           <!-- params -->
           <param from="$(var common_param_path)"/>

diff --git a/...ning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp b/...ning/sampling_based_planner/autoware_frenet_planner/src/frenet_planner/frenet_planner.cpp
@@ -1,4 +1,4 @@
-// Copyright 2023 Tier IV, Inc.
+// Copyright 2023-2024 Tier IV, Inc.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -186,7 +186,7 @@ void calculateCartesian(
     for (size_t i = 1; i < path.yaws.size(); ++i) {
       const auto dyaw =
         autoware::common::helper_functions::wrap_angle(path.yaws[i] - path.yaws[i - 1]);
-      path.curvatures.push_back(dyaw / (path.lengths[i - 1], path.lengths[i]));
+      path.curvatures.push_back(dyaw / (path.lengths[i] - path.lengths[i - 1]));
     }
     path.curvatures.push_back(path.curvatures.back());
   }