fix: autoware_msgs (#68)

Signed-off-by: kosuke55 <[email protected]> Signed-off-by: temkei.kem <[email protected]>
autowarefoundation · Jul 8, 2024 · 59ae7c5 · 59ae7c5
1 parent 214452e
commit 59ae7c5
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Showing 4 changed files with 6 additions and 6 deletions.
diff --git a/planning/planning_debug_tools/scripts/closest_velocity_checker.py b/planning/planning_debug_tools/scripts/closest_velocity_checker.py
@@ -274,13 +274,13 @@ def CallBackScenarioTrajectory(self, msg):
 
     def CallBackControlCmd(self, msg):
         # self.get_logger().info('CONTROL_CMD called')
-        self.data_arr[CONTROL_CMD] = msg.longitudinal.speed
+        self.data_arr[CONTROL_CMD] = msg.longitudinal.velocity
         self.data_arr[CONTROL_CMD_ACC] = msg.longitudinal.acceleration
         return
 
     def CallBackVehicleCmd(self, msg):
         # self.get_logger().info('VEHICLE_CMD called')
-        self.data_arr[VEHICLE_CMD] = msg.longitudinal.speed
+        self.data_arr[VEHICLE_CMD] = msg.longitudinal.velocity
         self.data_arr[VEHICLE_CMD_ACC] = msg.longitudinal.acceleration
         return
 

diff --git a/...r_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py b/...r_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py
@@ -38,7 +38,7 @@ def publish_msg(self, control_cmd):
         ]
         longitudinal_cmd.stamp.sec = stamp.sec
         longitudinal_cmd.stamp.nanosec = stamp.nanosec
-        longitudinal_cmd.speed = control_cmd["longitudinal"]["speed"]
+        longitudinal_cmd.velocity = control_cmd["longitudinal"]["speed"]
         longitudinal_cmd.acceleration = control_cmd["longitudinal"]["acceleration"]
         longitudinal_cmd.jerk = control_cmd["longitudinal"]["jerk"]
 

diff --git a/simulator/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py b/simulator/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py
@@ -82,7 +82,7 @@ def generate_control_msg(self, control_cmd):
         ]
         longitudinal_cmd.stamp.sec = stamp.sec
         longitudinal_cmd.stamp.nanosec = stamp.nanosec
-        longitudinal_cmd.speed = control_cmd["longitudinal"]["speed"]
+        longitudinal_cmd.velocity = control_cmd["longitudinal"]["speed"]
         longitudinal_cmd.acceleration = control_cmd["longitudinal"]["acceleration"]
         longitudinal_cmd.jerk = control_cmd["longitudinal"]["jerk"]
 
@@ -101,7 +101,7 @@ def set_speed(self, speed):
             if len(self.msgs_rx) > 2:
                 break
         received = self.msgs_rx[-1]
-        assert received.longitudinal.speed == speed
+        assert received.longitudinal.velocity == speed
         self.msgs_rx.clear()
 
     def set_acceleration(self, acceleration):

diff --git a/simulator/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py b/simulator/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py
@@ -81,7 +81,7 @@ def generate_control_msg(self, control_cmd):
         ]
         longitudinal_cmd.stamp.sec = stamp.sec
         longitudinal_cmd.stamp.nanosec = stamp.nanosec
-        longitudinal_cmd.speed = control_cmd["longitudinal"]["speed"]
+        longitudinal_cmd.velocity = control_cmd["longitudinal"]["speed"]
         longitudinal_cmd.acceleration = control_cmd["longitudinal"]["acceleration"]
         longitudinal_cmd.jerk = control_cmd["longitudinal"]["jerk"]