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fix(motion_utils): fix build error (#5404) #982

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merged 1 commit into from
Oct 25, 2023
Merged

fix(motion_utils): fix build error (#5404) #982

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8 changes: 4 additions & 4 deletions common/motion_utils/include/motion_utils/vehicle/vehicle_state_checker.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,11 +55,11 @@ class VehicleStopChecker : public VehicleStopCheckerBase

protected:
rclcpp::Subscription<Odometry>::SharedPtr sub_odom_;
Odometry::SharedPtr odometry_ptr_;
Odometry::ConstSharedPtr odometry_ptr_;

private:
static constexpr double velocity_buffer_time_sec = 10.0;
void onOdom(const Odometry::SharedPtr msg);
void onOdom(const Odometry::ConstSharedPtr msg);
};

class VehicleArrivalChecker : public VehicleStopChecker
Expand All @@ -74,9 +74,9 @@ class VehicleArrivalChecker : public VehicleStopChecker

rclcpp::Subscription<Trajectory>::SharedPtr sub_trajectory_;

Trajectory::SharedPtr trajectory_ptr_;
Trajectory::ConstSharedPtr trajectory_ptr_;

void onTrajectory(const Trajectory::SharedPtr msg);
void onTrajectory(const Trajectory::ConstSharedPtr msg);
};
} // namespace motion_utils

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4 changes: 2 additions & 2 deletions common/motion_utils/src/vehicle/vehicle_state_checker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ VehicleStopChecker::VehicleStopChecker(rclcpp::Node * node)
std::bind(&VehicleStopChecker::onOdom, this, _1));
}

void VehicleStopChecker::onOdom(const Odometry::SharedPtr msg)
void VehicleStopChecker::onOdom(const Odometry::ConstSharedPtr msg)
{
odometry_ptr_ = msg;

Expand Down Expand Up @@ -128,7 +128,7 @@ bool VehicleArrivalChecker::isVehicleStoppedAtStopPoint(const double stop_durati
th_arrived_distance_m;
}

void VehicleArrivalChecker::onTrajectory(const Trajectory::SharedPtr msg)
void VehicleArrivalChecker::onTrajectory(const Trajectory::ConstSharedPtr msg)
{
trajectory_ptr_ = msg;
}
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