feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (#1497)

feat(autoware_accel_brake_map_calibrator): conditional actuation data processing based on source (autowarefoundation#8593)

* fix: Conditional Actuation Data Processing Based on Source



* style(pre-commit): autofix

* delete extra comentout, indent



* add take validation



* style(pre-commit): autofix

---------

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>
Co-authored-by: eiki <53928021+N-Eiki@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: 3 people

vehicle/autoware_accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp

@@ -266,15 +266,16 @@ bool AccelBrakeMapCalibrator::get_current_pitch_from_tf(double * pitch)
 bool AccelBrakeMapCalibrator::take_data()
 {
   // take data from subscribers
-  // take actuation data
-  ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData();
-  ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData();
-  if (actuation_status_ptr) {
+  if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::STATUS) {
+    ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData();
+    if (!actuation_status_ptr) return false;
     take_actuation_status(actuation_status_ptr);
-  } else if (actuation_cmd_ptr) {
+  }
+  // take actuation data
+  if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::COMMAND) {
+    ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData();
+    if (!actuation_cmd_ptr) return false;
     take_actuation_command(actuation_cmd_ptr);
-  } else {
-    return false;
   }
 
   // take velocity data