fix: deactivate dev-mode

una-auxme · Mar 22, 2024 · 17100da · 17100da
1 parent af0557f
commit 17100da
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Showing 3 changed files with 4 additions and 3 deletions.
diff --git a/code/planning/launch/planning.launch b/code/planning/launch/planning.launch
@@ -16,13 +16,13 @@
            <param name="control_loop_rate" value="0.1" />
     </node>
 
-    <node pkg="planning" type="dev_global_route.py" name="DevGlobalRoute" output="screen">
+    <!-- <node pkg="planning" type="dev_global_route.py" name="DevGlobalRoute" output="screen">
            <param name="from_txt" value="True" />
            <param name="sampling_resolution" value="75.0" />
            <param name="routes" value="/opt/leaderboard/data/routes_devtest.xml" />
            <param name="global_route_txt" value="/code/planning/src/global_planner/global_route.txt" />
            <param name="role_name" value="hero" />
-    </node>
+    </node> -->
     <node pkg="planning" type="global_planner.py" name="PrePlanner" output="screen">
            <param name="role_name" value="hero" />
            <param name="control_loop_rate" value="1" />

diff --git a/code/planning/src/global_planner/global_planner.py b/code/planning/src/global_planner/global_planner.py
@@ -78,7 +78,7 @@ def __init__(self):
         self.logdebug('PrePlanner-Node started')
 
         # uncomment for self.dev_load_world_info() for dev_launch
-        self.dev_load_world_info()
+        # self.dev_load_world_info()
 
     def global_route_callback(self, data: CarlaRoute) -> None:
         """

diff --git a/code/planning/src/local_planner/motion_planning.py b/code/planning/src/local_planner/motion_planning.py
@@ -132,6 +132,7 @@ def __init__(self):
             Int16,
             f"/paf/{self.role_name}/Center/traffic_light_y_distance",
             self.__set_traffic_y_distance,
+            qos_profile=1)
         self.unstuck_distance_sub: Subscriber = self.new_subscription(
             Float32,
             f"/paf/{self.role_name}/unstuck_distance",