From aff04eaa148b226dc6695c0ad4b7cfbdc02a58b6 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 30 Jun 2022 17:29:51 +0900 Subject: [PATCH] update simulator Signed-off-by: Takamasa Horibe --- .../launch/simple_planning_simulator.launch.py | 3 +++ .../simple_planning_simulator_core.cpp | 3 ++- 2 files changed, 5 insertions(+), 1 deletion(-) diff --git a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py index eb5542bf51be4..aca22359b91cb 100644 --- a/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py +++ b/simulator/simple_planning_simulator/launch/simple_planning_simulator.launch.py @@ -54,11 +54,14 @@ def launch_setup(context, *args, **kwargs): ], remappings=[ ("input/ackermann_control_command", "/control/command/control_cmd"), + ("input/manual_ackermann_control_command", "/vehicle/command/manual_control_cmd"), ("input/gear_command", "/control/command/gear_cmd"), + ("input/manual_gear_command", "/vehicle/command/manual_gear_command"), ("input/turn_indicators_command", "/control/command/turn_indicators_cmd"), ("input/hazard_lights_command", "/control/command/hazard_lights_cmd"), ("input/trajectory", "/planning/scenario_planning/trajectory"), ("input/engage", "/vehicle/engage"), + ("input/control_mode_request", "/system/control_mode_request"), ("output/twist", "/vehicle/status/velocity_status"), ("output/odometry", "/localization/kinematic_state"), ("output/steering", "/vehicle/status/steering_status"), diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp index 06585ec751981..13f6e849b5be7 100644 --- a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp +++ b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp @@ -112,7 +112,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt "input/control_mode_request", std::bind(&SimplePlanningSimulator::on_control_mode_request, this, _1, _2)); - // TODO(Horibe): will be replaced by mode_request. May still be needed for scenario testing + // TODO(Horibe): should be replaced by mode_request. Keep for the backward compatibility. sub_engage_ = create_subscription( "input/engage", rclcpp::QoS{1}, std::bind(&SimplePlanningSimulator::on_engage, this, _1)); @@ -178,6 +178,7 @@ SimplePlanningSimulator::SimplePlanningSimulator(const rclcpp::NodeOptions & opt // control mode current_control_mode_.data = ControlMode::AUTO; + current_manual_gear_cmd_.command = GearCommand::DRIVE; } void SimplePlanningSimulator::initialize_vehicle_model()