From 1717315cebb72362ba915681735b595956c1c1b5 Mon Sep 17 00:00:00 2001
From: yamacir-kit <httperror@404-notfound.jp>
Date: Fri, 13 Dec 2024 14:14:46 +0900
Subject: [PATCH] Update `TimeToCollisionCondition` to call `SpeedCondition` in
 standard compatible mode

Signed-off-by: yamacir-kit <httperror@404-notfound.jp>
---
 .../syntax/time_to_collision_condition.hpp          |  3 ++-
 .../scenario_test_runner/scenario/sample.yaml       | 13 ++-----------
 2 files changed, 4 insertions(+), 12 deletions(-)

diff --git a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition.hpp b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition.hpp
index ff290830df5..3dc68ba3cd9 100644
--- a/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition.hpp
+++ b/openscenario/openscenario_interpreter/include/openscenario_interpreter/syntax/time_to_collision_condition.hpp
@@ -158,7 +158,8 @@ struct TimeToCollisionCondition : private Scope, private SimulatorCore::Conditio
           entities, triggering_entity, time_to_collision_condition_target.as<Entity>(),
           directional_dimension());
       } else {
-        return SpeedCondition::evaluate(entities, triggering_entity, directional_dimension());
+        return SpeedCondition::evaluate(
+          entities, triggering_entity, directional_dimension(), Compatibility::standard);
       }
     };
 
diff --git a/test_runner/scenario_test_runner/scenario/sample.yaml b/test_runner/scenario_test_runner/scenario/sample.yaml
index d465b19c270..37d6440f158 100644
--- a/test_runner/scenario_test_runner/scenario/sample.yaml
+++ b/test_runner/scenario_test_runner/scenario/sample.yaml
@@ -10,16 +10,7 @@ OpenSCENARIO:
     revMajor: 1
     revMinor: 0
   ParameterDeclarations:
-    ParameterDeclaration:
-      - name: random_offset
-        parameterType: double
-        value: $(ros2 run openscenario_interpreter_example uniform_distribution -1.0 1.0)
-        ConstraintGroup:
-          - ValueConstraint:
-            - rule: lessOrEqual
-              value: 1.0
-            - rule: greaterOrEqual
-              value: -1.0
+    ParameterDeclaration: []
   CatalogLocations:
     VehicleCatalog:
       Directory:
@@ -54,7 +45,7 @@ OpenSCENARIO:
                       roadId: ''
                       laneId: LANE_ID
                       s: 1
-                      offset: $random_offset
+                      offset: 0
                       Orientation:
                         type: relative
                         h: 0