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fix(planning_debug_tools): output engage status properly #146

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merged 1 commit into from
Nov 7, 2024
Merged

fix(planning_debug_tools): output engage status properly #146

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16 changes: 7 additions & 9 deletions planning/planning_debug_tools/scripts/closest_velocity_checker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,10 @@

import time

from autoware_adapi_v1_msgs.msg import OperationModeState
from autoware_control_msgs.msg import Control as AckermannControlCommand
from autoware_planning_msgs.msg import Path
from autoware_planning_msgs.msg import Trajectory
from autoware_vehicle_msgs.msg import Engage
from autoware_vehicle_msgs.msg import VelocityReport
from geometry_msgs.msg import Pose
from nav_msgs.msg import Odometry
Expand Down Expand Up @@ -115,10 +115,10 @@ def __init__(self):

# others related to velocity
self.sub8 = self.create_subscription(
Engage, "/autoware/engage", self.CallBackAwEngage, profile
)
self.sub12 = self.create_subscription(
Engage, "/vehicle/engage", self.CallBackVehicleEngage, profile
OperationModeState,
"/control/vehicle_cmd_gate/operation_mode",
self.CallBackAwEngage,
profile,
)
self.sub9 = self.create_subscription(
VelocityLimit,
Expand Down Expand Up @@ -218,10 +218,8 @@ def timerCallback(self):
self.printInfo()

def CallBackAwEngage(self, msg):
self.autoware_engage = msg.engage

def CallBackVehicleEngage(self, msg):
self.vehicle_engage = msg.engage
self.autoware_engage = msg.mode == OperationModeState.AUTONOMOUS
self.vehicle_engage = msg.is_autoware_control_enabled

def CallBackExternalVelLim(self, msg):
self.external_v_lim = msg.max_velocity
Expand Down
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