po

Signed-off-by: yuki-takagi-66 <[email protected]>
tier4 · Dec 19, 2024 · 51c5682 · 51c5682
1 parent 72c0271
commit 51c5682
Showing 1 changed file with 2 additions and 2 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
@@ -534,8 +534,8 @@ PidLongitudinalController::ControlData PidLongitudinalController::getControlData
 
   // distance to stopline
   control_data.stop_dist = longitudinal_utils::calcStopDistance(
-    control_data.interpolated_traj.points.at(control_data.nearest_idx).pose,
-    control_data.interpolated_traj, m_ego_nearest_dist_threshold, m_ego_nearest_yaw_threshold);
+    current_pose, control_data.interpolated_traj, m_ego_nearest_dist_threshold,
+    m_ego_nearest_yaw_threshold);
 
   // pitch
   // NOTE: getPitchByTraj() calculates the pitch angle as defined in