fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (autowarefoundation#7840)

maxime-clem · maxime-clem · commit 7c1c421c039a · 2024-07-04T18:27:31.000+09:00
Signed-off-by: Maxime CLEMENT &lt;maxime.clement@tier4.jp&gt;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
@@ -325,7 +325,7 @@ void MotionVelocityPlannerNode::insert_slowdown(
     autoware::motion_utils::insertTargetPoint(to_seg_idx, slowdown_interval.to, trajectory.points);
   if (from_insert_idx && to_insert_idx) {
     for (auto idx = *from_insert_idx; idx <= *to_insert_idx; ++idx)
-      trajectory.points[idx].longitudinal_velocity_mps = 0.0;
+      trajectory.points[idx].longitudinal_velocity_mps = slowdown_interval.velocity;
   } else {
     RCLCPP_WARN(get_logger(), "Failed to insert slowdown point");
   }

Original file line number	Diff line number	Diff line change
`@@ -325,7 +325,7 @@ void MotionVelocityPlannerNode::insert_slowdown(`
`325`	`325`	`autoware::motion_utils::insertTargetPoint(to_seg_idx, slowdown_interval.to, trajectory.points);`
`326`	`326`	`if (from_insert_idx && to_insert_idx) {`
`327`	`327`	`for (auto idx = from_insert_idx; idx <= to_insert_idx; ++idx)`
`328`		`- trajectory.points[idx].longitudinal_velocity_mps = 0.0;`
	`328`	`+ trajectory.points[idx].longitudinal_velocity_mps = slowdown_interval.velocity;`
`329`	`329`	`} else {`
`330`	`330`	`RCLCPP_WARN(get_logger(), "Failed to insert slowdown point");`
`331`	`331`	`}`