implementation of the MpcLateralController corrected!

Signed-off-by: Zhe Shen <[email protected]>
autowarefoundation · May 27, 2024 · cb8a702 · cb8a702
1 parent 91f78d1
commit cb8a702
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp
@@ -39,7 +39,7 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control
     getLateralControllerMode(declare_parameter<std::string>("lateral_controller_mode"));
   switch (lateral_controller_mode) {
     case LateralControllerMode::MPC: {
-      lateral_controller_ = std::make_shared<mpc_lateral_controller::MpcLateralController>(*this);
+      lateral_controller_ = std::make_shared<mpc_lateral_controller::MpcLateralController>(*this, diag_updater_);
       break;
     }
     case LateralControllerMode::PURE_PURSUIT: {