chore(simple_planning_simulator): publish control mode before the self-position is given #7008
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…f-position is given Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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…f-position is given (autowarefoundation#7008) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: vividf <yihsiang.fang@tier4.jp>
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…f-position is given (autowarefoundation#7008) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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#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>
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…f-position is given (autowarefoundation#7008) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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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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