fix(pid_longitudinal_controller): fix the same point error (autowaref…

…oundation#8758) * fix same point Signed-off-by: Yuki Takagi <[email protected]>
leo-drive · Sep 4, 2024 · 0efb315 · 0efb315
1 parent 6d0a454
commit 0efb315
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp b/control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp
@@ -507,6 +507,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
   // calculate the target motion for delay compensation
   constexpr double min_running_dist = 0.01;
   if (control_data.state_after_delay.running_distance > min_running_dist) {
+    control_data.interpolated_traj.points =
+      autoware::motion_utils::removeOverlapPoints(control_data.interpolated_traj.points);
     const auto target_pose = longitudinal_utils::findTrajectoryPoseAfterDistance(
       control_data.nearest_idx, control_data.state_after_delay.running_distance,
       control_data.interpolated_traj);