fix(autoware_external_cmd_converter): fix check_topic_state #7921
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Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp>
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shmpwk
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Jul 9, 2024
Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
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…foundation#7921) * fix(autoware_external_cmd_converter): fix check_topic_state Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp> * style(pre-commit): autofix * Update vehicle/autoware_external_cmd_converter/src/node.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * style(pre-commit): autofix --------- Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp> Co-authored-by: shtokuda <shumpei.tokuda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
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…foundation#7921) * fix(autoware_external_cmd_converter): fix check_topic_state Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp> * style(pre-commit): autofix * Update vehicle/autoware_external_cmd_converter/src/node.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> * style(pre-commit): autofix --------- Signed-off-by: shtokuda <shumpei.tokuda@tier4.jp> Co-authored-by: shtokuda <shumpei.tokuda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>
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Description
This pull request addresses an issue where the availability of local/remote mode becomes false after the first activation. This is achieved by making necessary adjustments to fix the check_topic_state function.
Subscribed topics in autoware_external_converter are used only when GateMode is set to EXTERNAL. Therefore, I propose that check_topic_state should return true when GateMode is set to AUTO. This change will prevent the availability of local/remote mode from becoming false due to a mischeck.
Related links
Tests performed
Screencast.from.2024.07.08.17.38.38.webm
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
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