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fix(pid_longitudinal_controller): fix cherry-pick
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Signed-off-by: Takayuki Murooka <[email protected]>
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takayuki5168 committed Jul 10, 2024
1 parent ed46059 commit f2a56e6
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Showing 2 changed files with 3 additions and 3 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -734,7 +734,7 @@ void PidLongitudinalController::updateControlState(const ControlData & control_d
auto marker = createDefaultMarker(
"map", clock_->now(), "stop_reason", 0, Marker::TEXT_VIEW_FACING,
createMarkerScale(0.0, 0.0, 1.0), createMarkerColor(1.0, 1.0, 1.0, 0.999));
marker.pose = autoware::universe_utils::calcOffsetPose(
marker.pose = tier4_autoware_utils::calcOffsetPose(
m_current_kinematic_state.pose.pose, m_wheel_base + m_front_overhang,
m_vehicle_width / 2 + 2.0, 1.5);
marker.text = "steering not\nconverged";
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Original file line number Diff line number Diff line change
Expand Up @@ -598,7 +598,7 @@ TEST_F(FakeNodeFixture, longitudinal_check_steer_converged)

ASSERT_TRUE(tester.received_control_command);
// Keep stopped state when the lateral control is not converged.
EXPECT_DOUBLE_EQ(tester.cmd_msg->longitudinal.velocity, 0.0f);
EXPECT_DOUBLE_EQ(tester.cmd_msg->longitudinal.speed, 0.0f);
}

{ // Check if the ego can keep stopped after the following sequence
Expand All @@ -613,6 +613,6 @@ TEST_F(FakeNodeFixture, longitudinal_check_steer_converged)

ASSERT_TRUE(tester.received_control_command);
// Keep stopped state when the lateral control is not converged.
EXPECT_DOUBLE_EQ(tester.cmd_msg->longitudinal.velocity, 0.0f);
EXPECT_DOUBLE_EQ(tester.cmd_msg->longitudinal.speed, 0.0f);
}
}

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