fix: use consider_pose_by_road_slope flag in EntityManager::spawnEntity

Signed-off-by: Kotaro Yoshimoto <[email protected]>
tier4 · Mar 1, 2024 · 368ac88 · 368ac88
1 parent 89dc17f
commit 368ac88
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp b/simulation/traffic_simulator/include/traffic_simulator/entity/entity_manager.hpp
@@ -540,7 +540,13 @@ class EntityManager
           entity_status.lanelet_pose = *lanelet_pose;
           entity_status.lanelet_pose_valid = true;
           // @note fix z, roll and pitch to fitting to the lanelet
-          entity_status.pose = hdmap_utils_ptr_->toMapPose(*lanelet_pose).pose;
+          static bool consider_pose_by_road_slope =
+            getParameter<bool>("consider_pose_by_road_slope", false);
+          if (consider_pose_by_road_slope) {
+            entity_status.pose = hdmap_utils_ptr_->toMapPose(*lanelet_pose).pose;
+          } else {
+            entity_status.pose = pose;
+          }
         } else {
           entity_status.lanelet_pose_valid = false;
           entity_status.pose = pose;