refactor(autoware_autonomous_emergency_braking): rename info_marker_p…

…ublisher to virtual_wall_publisher (autowarefoundation#9078) Signed-off-by: kyoichi-sugahara <[email protected]>
a-maumau · Oct 11, 2024 · 543b45e · 543b45e
1 parent f5818f7
commit 543b45e
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/...oware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp
@@ -341,7 +341,7 @@ class AEB : public rclcpp::Node
   // publisher
   rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr pub_obstacle_pointcloud_;
   rclcpp::Publisher<MarkerArray>::SharedPtr debug_marker_publisher_;
-  rclcpp::Publisher<MarkerArray>::SharedPtr info_marker_publisher_;
+  rclcpp::Publisher<MarkerArray>::SharedPtr virtual_wall_publisher_;
   rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr
     debug_processing_time_detail_pub_;
   rclcpp::Publisher<tier4_debug_msgs::msg::Float32Stamped>::SharedPtr debug_rss_distance_publisher_;

diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -138,7 +138,7 @@ AEB::AEB(const rclcpp::NodeOptions & node_options)
     pub_obstacle_pointcloud_ =
       this->create_publisher<sensor_msgs::msg::PointCloud2>("~/debug/obstacle_pointcloud", 1);
     debug_marker_publisher_ = this->create_publisher<MarkerArray>("~/debug/markers", 1);
-    info_marker_publisher_ = this->create_publisher<MarkerArray>("~/info/markers", 1);
+    virtual_wall_publisher_ = this->create_publisher<MarkerArray>("~/virtual_wall", 1);
     debug_rss_distance_publisher_ =
       this->create_publisher<tier4_debug_msgs::msg::Float32Stamped>("~/debug/rss_distance", 1);
   }
@@ -398,7 +398,7 @@ bool AEB::fetchLatestData()
 void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
 {
   MarkerArray debug_markers;
-  MarkerArray info_markers;
+  MarkerArray virtual_wall_marker;
   checkCollision(debug_markers);
 
   if (!collision_data_keeper_.checkCollisionExpired()) {
@@ -414,7 +414,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
         addCollisionMarker(data.value(), debug_markers);
       }
     }
-    addVirtualStopWallMarker(info_markers);
+    addVirtualStopWallMarker(virtual_wall_marker);
   } else {
     const std::string error_msg = "[AEB]: No Collision";
     const auto diag_level = DiagnosticStatus::OK;
@@ -423,7 +423,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
 
   // publish debug markers
   debug_marker_publisher_->publish(debug_markers);
-  info_marker_publisher_->publish(info_markers);
+  virtual_wall_publisher_->publish(virtual_wall_marker);
 }
 
 bool AEB::checkCollision(MarkerArray & debug_markers)