fix(mpc_lateral_controller): publish predicted trajectory in Frenet c…

…oordinate and visualize it on Rviz (#533) Signed-off-by: Takayuki Murooka <[email protected]>
tier4 · Aug 9, 2024 · f3c8c4b · f3c8c4b
1 parent c7dafae
commit f3c8c4b
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml
@@ -75,4 +75,4 @@
       average_num: 1000
       steering_offset_limit: 0.02
 
-    debug_publish_predicted_trajectory: false  # publish debug predicted trajectory in Frenet coordinate
+    debug_publish_predicted_trajectory: true  # publish debug predicted trajectory in Frenet coordinate
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2396,7 +2396,7 @@ Visualization Manager:
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /control/trajectory_follower/lateral/predicted_trajectory
+            Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate
           Value: true
           View Path:
             Alpha: 1