Merge pull request #1465 from tier4/fix/request-enable-autoware-control

tier4 · Dec 13, 2024 · 02b0302 · 02b0302
2 parents 081643a + d839c3e
commit 02b0302
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Showing 2 changed files with 2 additions and 1 deletion.
diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -475,7 +475,7 @@ auto FieldOperatorApplicationFor<AutowareUniverse>::enableAutowareControl() -> v
 {
   task_queue.delay([this]() {
     auto request = std::make_shared<autoware_adapi_v1_msgs::srv::ChangeOperationMode::Request>();
-    requestEnableAutowareControl(request);
+    requestEnableAutowareControl(request, 30);
   });
 }
 

diff --git a/simulation/traffic_simulator/src/api/api.cpp b/simulation/traffic_simulator/src/api/api.cpp
@@ -94,6 +94,7 @@ auto API::respawn(
 
       entity_manager_ptr_->asFieldOperatorApplication(name).clearRoute();
       entity_manager_ptr_->asFieldOperatorApplication(name).plan({goal_pose});
+      entity_manager_ptr_->asFieldOperatorApplication(name).enableAutowareControl();
       entity_manager_ptr_->asFieldOperatorApplication(name).engage();
     }
   }