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chore: sync awf-latest #1788

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merged 2 commits into from
Feb 7, 2025
Merged

chore: sync awf-latest #1788

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8ae14aa
fix(motion_velocity_planner_common): fix the calc_possible_min_dist_f…
takayuki5168 Feb 7, 2025
bad4ec5
fix(autoware_topic_relay_controller): fix typo (#10081)
youtalk Feb 7, 2025
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2 changes: 2 additions & 0 deletions ...ning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/package.xml
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Expand Up @@ -7,6 +7,8 @@

<maintainer email="[email protected]">Maxime Clement</maintainer>
<maintainer email="[email protected]">Alqudah Mohammad</maintainer>
<maintainer email="[email protected]">Takayuki Murooka</maintainer>
<maintainer email="[email protected]">Yuki Takagi</maintainer>

<license>Apache License 2.0</license>

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2 changes: 1 addition & 1 deletion ...ng/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/utils.cpp
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Expand Up @@ -169,7 +169,7 @@ double calc_possible_min_dist_from_obj_to_traj_poly(
const double object_possible_max_dist =
calc_object_possible_max_dist_from_center(object->predicted_object.shape);
const double possible_min_dist_to_traj_poly =
std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m -
std::abs(object->get_dist_to_traj_lateral(traj_points)) - vehicle_info.vehicle_width_m / 2.0 -
object_possible_max_dist;
return possible_min_dist_to_traj_poly;
}
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10 changes: 5 additions & 5 deletions system/autoware_topic_relay_controller/config/topic_relay_controller.param.yaml
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@@ -1,14 +1,14 @@
/**:
ros__parameters:
topic: "/default"
topic_type: "std_msgs/msg/String" # unneccessary for /tf or /tf_static
topic_type: "std_msgs/msg/String" # unnecessary for /tf or /tf_static
remap_topic: "/remap_default"
#frame_id: neccessary for /tf or /tf_static
#child_frame_id: neccessary for /tf or /tf_static
#frame_id: necessary for /tf or /tf_static
#child_frame_id: necessary for /tf or /tf_static
qos_depth: 1
transient_local: false # Change qos to transient_local. Default is volatile.
best_effort: false # Change qos to best_effort. Default is reliable.
enable_relay_control: true
srv_name: "/system/topic_relay_controller_default/operate" # neccessary for enable_relay_control is true
srv_name: "/system/topic_relay_controller_default/operate" # necessary for enable_relay_control is true
enable_keep_publishing: false
#update_rate: #neccessary for enable_keep_publishing is true
#update_rate: #necessary for enable_keep_publishing is true
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