From 3ccb038d7fd5df2c36c3ac4c822bcf5cf6747c9f Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Sat, 23 Nov 2024 05:10:50 +0900 Subject: [PATCH] feat(autoware_vehicle_cmd_gate): prevent steering when vehicle stopping. (#1660) chore(autoware_vehicle_cmd_gate): prevent steering when stop Signed-off-by: Makoto Kurihara --- control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index b26a2630ed994..68e886023fa69 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -556,14 +556,14 @@ void VehicleCmdGate::publishControlCommands(const Commands & commands) // Check engage if (!is_engaged_) { - filtered_commands.control.longitudinal = createLongitudinalStopControlCmd(); + filtered_commands.control = createStopControlCmd(); } // Check pause. Place this check after all other checks as it needs the final output. adapi_pause_->update(filtered_commands.control); if (adapi_pause_->is_paused()) { if (is_engaged_) { - filtered_commands.control.longitudinal = createLongitudinalStopControlCmd(); + filtered_commands.control = createStopControlCmd(); } else { filtered_commands.control = createStopControlCmd(); }