Fixes necessary to run Odaiba scenario

Signed-off-by: Paweł Lech <[email protected]>
tier4 · Feb 19, 2024 · 4989e12 · 4989e12
1 parent 5f19d39
commit 4989e12
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Showing 4 changed files with 473 additions and 12 deletions.
diff --git a/external/concealer/src/field_operator_application_for_autoware_universe.cpp b/external/concealer/src/field_operator_application_for_autoware_universe.cpp
@@ -342,18 +342,20 @@ auto FieldOperatorApplicationFor<AutowareUniverse>::plan(
 
 auto FieldOperatorApplicationFor<AutowareUniverse>::engage() -> void
 {
-  task_queue.delay([this]() {
-    waitForAutowareStateToBeDriving([this]() {
-      auto request = std::make_shared<tier4_external_api_msgs::srv::Engage::Request>();
-      request->engage = true;
-      try {
-        return requestEngage(request);
-      } catch (const decltype(requestEngage)::TimeoutError &) {
-        // ignore timeout error because this service is validated by Autoware state transition.
-        return;
-      }
+  if (!isDriving()) {
+    task_queue.delay([this]() {
+      waitForAutowareStateToBeDriving([this]() {
+        auto request = std::make_shared<tier4_external_api_msgs::srv::Engage::Request>();
+        request->engage = true;
+        try {
+          return requestEngage(request);
+        } catch (const decltype(requestEngage)::TimeoutError &) {
+          // ignore timeout error because this service is validated by Autoware state transition.
+          return;
+        }
+      });
     });
-  });
+  }
 }
 
 auto FieldOperatorApplicationFor<AutowareUniverse>::engageable() const -> bool

diff --git a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
@@ -93,6 +93,7 @@ void CppScenarioNode::spawnEgoEntity(
   api_.updateFrame();
   std::this_thread::sleep_for(std::chrono::duration<double>(1.0 / 20.0));
   api_.spawn("ego", spawn_lanelet_pose, parameters, traffic_simulator::VehicleBehavior::autoware());
+  api_.asFieldOperatorApplication("ego").declare_parameter<bool>("allow_goal_modification", true);
   api_.attachLidarSensor("ego", 0.0);
 
   api_.attachDetectionSensor("ego", 200.0, true, 0.0, 0, 0.0, 0.0);

diff --git a/mock/cpp_mock_scenarios/src/random_scenario/CMakeLists.txt b/mock/cpp_mock_scenarios/src/random_scenario/CMakeLists.txt
@@ -4,7 +4,8 @@ generate_parameter_library(
 )
 
 ament_auto_add_executable(random001
-  random001.cpp
+  # random001.cpp
+  random002-odaiba.cpp
 )
 target_link_libraries(random001
   cpp_scenario_node