From 982643f04f3ae42bfaca6d5c102601ce71a6d08f Mon Sep 17 00:00:00 2001 From: MasatoSaeki Date: Tue, 24 Dec 2024 15:08:45 +0900 Subject: [PATCH] add validation with absolute function Signed-off-by: MasatoSaeki --- .../src/traffic_light_arbiter.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp index 2e820904f9e00..3f3d969164ab4 100644 --- a/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp +++ b/perception/autoware_traffic_light_arbiter/src/traffic_light_arbiter.cpp @@ -120,7 +120,7 @@ void TrafficLightArbiter::onPerceptionMsg(const TrafficSignalArray::ConstSharedP latest_perception_msg_ = *msg; if ( - (rclcpp::Time(msg->stamp) - rclcpp::Time(latest_external_msg_.stamp)).seconds() > + std::abs((rclcpp::Time(msg->stamp) - rclcpp::Time(latest_external_msg_.stamp)).seconds()) > external_time_tolerance_) { latest_external_msg_.traffic_light_groups.clear(); } @@ -130,7 +130,7 @@ void TrafficLightArbiter::onPerceptionMsg(const TrafficSignalArray::ConstSharedP void TrafficLightArbiter::onExternalMsg(const TrafficSignalArray::ConstSharedPtr msg) { - if ((this->now() - rclcpp::Time(msg->stamp)).seconds() > external_delay_tolerance_) { + if (std::abs((this->now() - rclcpp::Time(msg->stamp)).seconds()) > external_delay_tolerance_) { RCLCPP_WARN_THROTTLE( get_logger(), *get_clock(), 5000, "Received outdated V2X traffic signal messages"); return; @@ -139,7 +139,7 @@ void TrafficLightArbiter::onExternalMsg(const TrafficSignalArray::ConstSharedPtr latest_external_msg_ = *msg; if ( - (rclcpp::Time(msg->stamp) - rclcpp::Time(latest_perception_msg_.stamp)).seconds() > + std::abs((rclcpp::Time(msg->stamp) - rclcpp::Time(latest_perception_msg_.stamp)).seconds()) > perception_time_tolerance_) { latest_perception_msg_.traffic_light_groups.clear(); }