fix actuation topic

Signed-off-by: Alptuğ Cırıt <[email protected]>
autowarefoundation · Sep 4, 2024 · 35f6d27 · 35f6d27
1 parent c43b3f8
commit 35f6d27
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Showing 3 changed files with 13 additions and 2 deletions.
diff --git a/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab b/Assets/AWSIM/Prefabs/Vehicles/Lexus RX450h 2015 Sample Sensor.prefab
@@ -1655,7 +1655,7 @@ MonoBehaviour:
     Depth: 1
   _actuationQosSettings:
     ReliabilityPolicy: 1
-    DurabilityPolicy: 1
+    DurabilityPolicy: 2
     HistoryPolicy: 1
     Depth: 1
 --- !u!114 &1782664888259975789

diff --git a/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs b/Assets/AWSIM/Scripts/Vehicles/VPP Integration/Ros2ToVPPInput.cs
@@ -25,6 +25,7 @@ public class Ros2ToVPPInput : MonoBehaviour
 
         [SerializeField] private QoSSettings qosSettings = new();
         [SerializeField] private QoSSettings positionQosSettings;
+        [SerializeField] private QoSSettings _actuationQosSettings;
 
         // subscribers
         private ISubscription<autoware_vehicle_msgs.msg.ControlModeReport> _controlModeSubscriber;
@@ -76,6 +77,7 @@ private void Start()
         {
             var qos = qosSettings.GetQoSProfile();
             var positionQoS = positionQosSettings.GetQoSProfile();
+            var actuationQoSSettings = _actuationQosSettings.GetQoSProfile();
 
             _controlModeSubscriber =
                 SimulatorROS2Node.CreateSubscription<autoware_vehicle_msgs.msg.ControlModeReport>(
@@ -149,7 +151,7 @@ private void Start()
                     _adapter.ThrottleInput = msg.Actuation.Accel_cmd;
                     _adapter.BrakeInput = msg.Actuation.Brake_cmd;
                     // _adapter.SteerInput = msg.Steer_cmd;
-                }, qos);
+                }, actuationQoSSettings);
         }
 
         private void OnDestroy()

diff --git a/docs/Components/Vehicle/VPPIntegration/index.md b/docs/Components/Vehicle/VPPIntegration/index.md
@@ -93,6 +93,15 @@ As for the other components we've added to the vehicle, we have to give their ne
 | `History Policy`     | Keep Last |
 | `Depth`              | 1         |
 
+- `Actuation QoS Setttings`: QoS settings for the actuation topic:
+
+| Variable             | Value     |
+|----------------------|-----------|
+| `Reliability Policy` | Reliable  |
+| `Durability Policy`  | Volatile  |
+| `History Policy`     | Keep Last |
+| `Depth`              | 1         |
+
 ### VehicleSignalHandler.cs
 
 | Variable     | Description                                                                                             |