fix(autoware_external_cmd_converter): fix check_topic_state #1395
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Signed-off-by: shtokuda <[email protected]>
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This PR has been already merged on universe of awf: autowarefoundation#7921 |
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Description
This pull request addresses an issue where the availability of local/remote mode becomes false after the first activation. This is achieved by making necessary adjustments to fix the check_topic_state function.
Subscribed topics in autoware_external_converter are used only when GateMode is set to EXTERNAL. Therefore, I propose that check_topic_state should return true when GateMode is set to AUTO. This change will prevent the availability of local/remote mode from becoming false due to a mischeck.
Related links
Tests performed
Screencast.from.2024.07.08.17.38.38.webm
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
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