From cb8a702d9c2bf5f2f4e64dd2f68c57504cdc5c61 Mon Sep 17 00:00:00 2001
From: Zhe Shen <lucidshenzhe@gmail.com>
Date: Wed, 22 May 2024 13:45:53 +0900
Subject: [PATCH] implementation of the MpcLateralController corrected!

Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
---
 control/trajectory_follower_node/src/controller_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp
index 801f42ad9a470..f5aab02e14df8 100644
--- 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: {