From bfff4bf8ce4bf1c5c290d7e03703dc26ef2636ee Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 30 May 2024 21:29:08 +0900 Subject: [PATCH] fix Signed-off-by: Go Sakayori --- .../src/motion_velocity_smoother_node.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp index 87d6a785c077e..befbca5537f16 100644 --- a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp +++ b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp @@ -200,6 +200,7 @@ rcl_interfaces::msg::SetParametersResult MotionVelocitySmootherNode::onParameter update_param("adjusted_max_acceleration", p.adjusted_max_acceleration); update_param("adjusted_max_jerk", p.adjusted_max_jerk); + update_param("adjusted_max_lateral_acceleration", p.adjusted_max_lateral_acceleration); } { @@ -1124,6 +1125,7 @@ void MotionVelocitySmootherNode::onAdjustParam( if (request->data && !adjustParam) { smoother_->setMaxAccel(get_parameter("adjusted_max_acceleration").as_double()); smoother_->setMaxJerk(get_parameter("adjusted_max_jerk").as_double()); + smoother_->setMaxLatAccel(get_parameter("adjusted_max_lateral_acceleration").as_double()); adjustParam = true; } else if (!request->data && adjustParam) {