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feat: wait until autonomous mode is enabled #74

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merged 1 commit into from
Jul 11, 2024
Merged

feat: wait until autonomous mode is enabled #74

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4 changes: 3 additions & 1 deletion common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -97,6 +97,7 @@ void AutowareAutomaticGoalSender::onOperationMode(const OperationModeState::Cons
state_ = State::STOPPED;
else if (msg->mode == OperationModeState::AUTONOMOUS && state_ == State::STARTING)
state_ = State::STARTED;
is_autonomous_mode_available_ = msg->is_autonomous_mode_available;
onOperationModeUpdated(msg);
}

Expand Down Expand Up @@ -131,7 +132,8 @@ void AutowareAutomaticGoalSender::updateAutoExecutionTimerTick()
RCLCPP_INFO_STREAM(get_logger(), goal << ": Goal set as the next. Planning in progress...");
if (callPlanToGoalIndex(cli_set_route_, current_goal_)) state_ = State::PLANNING;

} else if (state_ == State::PLANNED) { // start plan to next goal
} else if (state_ == State::PLANNED && is_autonomous_mode_available_) { // start plan to next
// goal
RCLCPP_INFO_STREAM(get_logger(), goal << ": Route has been planned. Route starting...");
if (callService<ChangeOperationMode>(cli_change_to_autonomous_)) state_ = State::STARTING;

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1 change: 1 addition & 0 deletions common/tier4_automatic_goal_rviz_plugin/src/automatic_goal_sender.hpp
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Expand Up @@ -168,6 +168,7 @@ class AutowareAutomaticGoalSender : public rclcpp::Node
std::vector<Route> goals_list_{};
std::map<unsigned, std::pair<std::string, unsigned>> goals_achieved_{};
std::string goals_achieved_file_path_{};
bool is_autonomous_mode_available_{false};

private:
void loadParams(rclcpp::Node * node);
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