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chore(simple_planning_simulator): publish control mode before the self-position is given #7008

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tkimura4
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@tkimura4 tkimura4 commented May 14, 2024

Description

Currently, when using the Planning_simulator, /vehicle/status/control_mode is not published until the vehicle's position is provided. However, in actual vehicle usage, /vehicle/status/control_mode is published immediately after the vehicle_interface and the vehicle start up (ex. pacmod_interface) . To align the Planning_simulator with this actual behavior, I have modified it to publish /vehicle/status/control_mode immediately after the node starts.

(TIER IV Internal Slack Link )

Tests performed

I confirmed that the /vehicle/status/control_mode becomes to be published before the vehicle's position is provided

Effects on system behavior

No effects on the actual vehicle behavior.

Interface changes

none

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…f-position is given

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
@tkimura4 tkimura4 requested a review from TakaHoribe as a code owner May 14, 2024 07:21
@tkimura4 tkimura4 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label May 14, 2024
@github-actions github-actions bot added the component:simulation Virtual environment setups and simulations. (auto-assigned) label May 14, 2024
@tkimura4 tkimura4 merged commit 2297b0c into autowarefoundation:main May 15, 2024
35 of 37 checks passed
@tkimura4 tkimura4 deleted the chore/publish_control_mode_before_ego_pos branch May 15, 2024 07:26
vividf pushed a commit to vividf/autoware.universe that referenced this pull request May 16, 2024
…f-position is given (autowarefoundation#7008)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Signed-off-by: vividf <yihsiang.fang@tier4.jp>
TomohitoAndo pushed a commit to tier4/autoware.universe that referenced this pull request May 16, 2024
…f-position is given (autowarefoundation#7008)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tkimura4 added a commit to tier4/autoware.universe that referenced this pull request May 16, 2024
#1302)

chore(simple_planning_simulator): publish control mode before the self-position is given (autowarefoundation#7008)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…f-position is given (autowarefoundation#7008)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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2 participants