Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(stopline, traffic_light): fix planning factor distance value #10245

Merged
merged 1 commit into from
Mar 7, 2025
Merged

fix(stopline, traffic_light): fix planning factor distance value #10245

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions planning/behavior_velocity_planner/autoware_behavior_velocity_stop_line_module/src/scene.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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");
Expand Down
1 change: 1 addition & 0 deletions ...behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down
2 changes: 1 addition & 1 deletion ...g/behavior_velocity_planner/autoware_behavior_velocity_traffic_light_module/src/scene.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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;
}
Expand Down
Loading