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fix(behavior_velocity_speed_bump_module): use unique virtual wall namespace #3838

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merged 2 commits into from
May 26, 2023
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fix(behavior_velocity_speed_bump_module): use unique virtual wall namespace #3838

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9f46413
fix(behavior_velocity_speed_bump_module): use unique virtual wall nam…
maxime-clem May 26, 2023
dd6dbb0
Use the VirtualWallMarkerCreator
maxime-clem May 26, 2023
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14 changes: 3 additions & 11 deletions planning/behavior_velocity_speed_bump_module/src/debug.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,17 +95,9 @@ visualization_msgs::msg::MarkerArray createSpeedBumpMarkers(

visualization_msgs::msg::MarkerArray SpeedBumpModule::createVirtualWallMarkerArray()
{
const auto now = this->clock_->now();
auto id = module_id_;

visualization_msgs::msg::MarkerArray wall_marker;
for (const auto & p : debug_data_.slow_start_poses) {
const auto & p_front = calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
appendMarkerArray(
createSlowDownVirtualWallMarker(p_front, "speed_bump", now, id++), &wall_marker);
}

return wall_marker;
return virtual_wall_marker_creator_.createSlowDownVirtualWallMarker(
debug_data_.slow_start_poses, "speed_bump", clock_->now(), debug_data_.base_link2front,
std::to_string(module_id_));
}

visualization_msgs::msg::MarkerArray SpeedBumpModule::createDebugMarkerArray()
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1 change: 1 addition & 0 deletions planning/behavior_velocity_speed_bump_module/src/scene.hpp
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Expand Up @@ -72,6 +72,7 @@ class SpeedBumpModule : public SceneModuleInterface

// Debug
DebugData debug_data_;
motion_utils::VirtualWallMarkerCreator virtual_wall_marker_creator_;

bool applySlowDownSpeed(
PathWithLaneId & output, const float speed_bump_speed,
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