From 91f78d1aeb8de9ec8f49fbcd7184be58222a4f8a Mon Sep 17 00:00:00 2001
From: Zhe Shen <lucidshenzhe@gmail.com>
Date: Wed, 22 May 2024 13:40:10 +0900
Subject: [PATCH] dependency added.

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
---
 .../mpc_lateral_controller/src/mpc_lateral_controller.cpp   | 6 +++---
 .../include/trajectory_follower_node/controller_node.hpp    | 3 ++-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
index a61b2cfb55471..65166553cfbeb 100644
--- a/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
+++ b/control/mpc_lateral_controller/src/mpc_lateral_controller.cpp
@@ -245,9 +245,9 @@ void MpcLateralController::setStatus(
 void MpcLateralController::setupDiag()
 {
   auto & d = diag_updater_;
-  d.setHardwareID("mpc_lateral_controller");
+  d->setHardwareID("mpc_lateral_controller");
 
-  d.add("MPC_solve_checker", [&](auto & stat) {
+  d->add("MPC_solve_checker", [&](auto & stat) {
     setStatus(
       stat, m_is_mpc_solved);
   });
@@ -283,7 +283,7 @@ trajectory_follower::LateralOutput MpcLateralController::run(
 
   m_is_mpc_solved = is_mpc_solved; // for diagnostic updater
 
-  diag_updater_.force_update();
+  diag_updater_->force_update();
 
   // reset previous MPC result
   // Note: When a large deviation from the trajectory occurs, the optimization stops and
diff --git a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
index 0c34fab892f3f..90df6d77a4782 100644
--- a/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
+++ b/control/trajectory_follower_node/include/trajectory_follower_node/controller_node.hpp
@@ -29,6 +29,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
+#include <diagnostic_updater/diagnostic_updater.hpp>
 
 #include "autoware_auto_control_msgs/msg/ackermann_control_command.hpp"
 #include "autoware_auto_control_msgs/msg/longitudinal_command.hpp"
@@ -73,7 +74,7 @@ class TRAJECTORY_FOLLOWER_PUBLIC Controller : public rclcpp::Node
   double timeout_thr_sec_;
   boost::optional<LongitudinalOutput> longitudinal_output_{boost::none};
 
-  std::shared_ptr<diagnostic_updater::Updater> diag_updater_{this}; // Diagnostic updater for publishing diagnostic data.
+  std::shared_ptr<diagnostic_updater::Updater> diag_updater_ = std::make_shared<diagnostic_updater::Updater>(this); // Diagnostic updater for publishing diagnostic data.
 
   std::shared_ptr<trajectory_follower::LongitudinalControllerBase> longitudinal_controller_;
   std::shared_ptr<trajectory_follower::LateralControllerBase> lateral_controller_;