fix(behavior_velocity_planner): fix uninitialized smoother param (#7078)

soblin · web-flow · commit c25a8a1272d1 · 2024-05-21T07:40:20.000Z
Signed-off-by: Mamoru Sobue &lt;mamoru.sobue@tier4.jp&gt;
diff --git a/planning/behavior_velocity_planner/src/node.cpp b/planning/behavior_velocity_planner/src/node.cpp
@@ -311,6 +311,7 @@ void BehaviorVelocityPlannerNode::onParam()
   // lock(mutex_);
   planner_data_.velocity_smoother_ =
     std::make_unique<motion_velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);
+  planner_data_.velocity_smoother_->setWheelBase(planner_data_.vehicle_info_.wheel_base_m);
 }
 
 void BehaviorVelocityPlannerNode::onLaneletMap(

Original file line number	Diff line number	Diff line change
`@@ -311,6 +311,7 @@ void BehaviorVelocityPlannerNode::onParam()`
`311`	`311`	`// lock(mutex_);`
`312`	`312`	`planner_data_.velocity_smoother_ =`
`313`	`313`	`std::make_unique<motion_velocity_smoother::AnalyticalJerkConstrainedSmoother>(*this);`
	`314`	`+ planner_data_.velocity_smoother_->setWheelBase(planner_data_.vehicle_info_.wheel_base_m);`
`314`	`315`	`}`
`315`	`316`
`316`	`317`	`void BehaviorVelocityPlannerNode::onLaneletMap(`