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fix: autoware_msgs #68

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Jun 29, 2024
Merged

fix: autoware_msgs #68

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4 changes: 2 additions & 2 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 @@ -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

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2 changes: 1 addition & 1 deletion ...r_compatibility_test/simulator_compatibility_test/publishers/ackermann_control_command.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"]

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4 changes: 2 additions & 2 deletions simulator/simulator_compatibility_test/test_base/test_03_longitudinal_command_and_report.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"]

Expand All @@ -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):
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2 changes: 1 addition & 1 deletion simulator/simulator_compatibility_test/test_base/test_04_lateral_command_and_report.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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"]

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