fix

Signed-off-by: Takayuki Murooka <[email protected]>
autowarefoundation · Nov 10, 2023 · dd06455 · dd06455
1 parent 4c82aaf
commit dd06455
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Showing 2 changed files with 7 additions and 4 deletions.
diff --git a/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp b/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp
@@ -46,6 +46,7 @@ VelocityLimit getHardestLimit(
     // find hardest max velocity
     if (max_velocity < hardest_max_velocity) {
       hardest_limit.stamp = limit.second.stamp;
+      hardest_limit.sender = limit.first;
       hardest_limit.max_velocity = max_velocity;
       hardest_max_velocity = max_velocity;
     }

diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -897,10 +897,12 @@ void MotionVelocitySmootherNode::applyExternalVelocityLimit(TrajectoryPoints & t
     *inserted_index, traj.size(), external_velocity_limit_.velocity, traj);
 
   // create virtual wall
-  const auto virtual_wall_marker = motion_utils::createStopVirtualWallMarker(
-    traj.at(*inserted_index).pose, external_velocity_limit_.sender, this->now(), 0,
-    base_link2front_);
-  pub_virtual_wall_->publish(virtual_wall_marker);
+  if (std::abs(external_velocity_limit_.velocity) < 1e-3) {
+    const auto virtual_wall_marker = motion_utils::createStopVirtualWallMarker(
+      traj.at(*inserted_index).pose, external_velocity_limit_.sender, this->now(), 0,
+      base_link2front_);
+    pub_virtual_wall_->publish(virtual_wall_marker);
+  }
 
   RCLCPP_DEBUG(
     get_logger(), "externalVelocityLimit : limit_vel = %.3f", external_velocity_limit_.velocity);