From deebc7152337c6dd12ff109d61926d2e684f1e76 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 7 Mar 2025 15:05:10 +0900 Subject: [PATCH] fix(stopline, traffic_light): fix planning factor distance value Signed-off-by: Mamoru Sobue --- .../autoware_behavior_velocity_stop_line_module/src/scene.cpp | 4 ++-- .../src/manager.cpp | 1 + .../src/scene.cpp | 2 +- 3 files changed, 4 insertions(+), 3 deletions(-) diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp index a9b1175287266..f230e49118756 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp @@ -66,8 +66,8 @@ bool StopLineModule::modifyPathVelocity(PathWithLaneId * path) // TODO(soblin): PlanningFactorInterface use trajectory class planning_factor_interface_->add( - path->points, trajectory->compute(*stop_point).point.pose, - planner_data_->current_odometry->pose, planner_data_->current_odometry->pose, + path->points, planner_data_->current_odometry->pose, + trajectory->compute(*stop_point).point.pose, trajectory->compute(*stop_point).point.pose, autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, 0.0 /*shift distance*/, "stopline"); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp index 7d86ac6028c82..cf8e214dc22ac 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp @@ -82,6 +82,7 @@ void TrafficLightModuleManager::modifyPathVelocity( virtual_wall_marker_creator_.add_virtual_walls( traffic_light_scene_module->createVirtualWalls()); } + planning_factor_interface_->publish(); pub_debug_->publish(debug_marker_array); pub_virtual_wall_->publish(virtual_wall_marker_creator_.create_markers(clock_->now())); pub_tl_state_->publish(tl_state); diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp index 8e02c91afab69..2aa25696397e5 100644 --- a/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp +++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp @@ -299,7 +299,7 @@ autoware_internal_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertS target_point_with_lane_id.point.pose, target_point_with_lane_id.point.pose, autoware_internal_planning_msgs::msg::PlanningFactor::STOP, autoware_internal_planning_msgs::msg::SafetyFactorArray{}, true /*is_driving_forward*/, 0.0, - 0.0 /*shift distance*/, ""); + 0.0 /*shift distance*/, "traffic_light"); return modified_path; }