fix(autoware_simple_pure_pursuit): make control command output transient local #328
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…ansient local Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
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control/autoware_simple_pure_pursuit/src/simple_pure_pursuit.cpp
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #328 +/- ##
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- Coverage 78.75% 4.20% -74.55%
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Files 11 42 +31
Lines 193 2401 +2208
Branches 73 389 +316
==========================================
- Hits 152 101 -51
- Misses 11 2290 +2279
+ Partials 30 10 -20
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Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
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Description
This modifies the default QoS settings for control command output from autoware_simple_pure_pursuit to transient local. This is because AWSIM subsriber is set as transient local, and it cannot communicate with Autoware if we publish with volatile durability.
We should come back to discuss if this should be defined as transient local as a design, but I would like to have this merged in order to make it work with the simulator.
I also added minor fixes:
is_defined_accelerationto true since we are setting acceleration field as well.(AWSIM didn't really care with these two, though)
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Interface changes
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None.