fix(goal_planner): fix publishing new modified goal #4302
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4302 +/- ##
==========================================
- Coverage 14.18% 14.18% -0.01%
==========================================
Files 1599 1599
Lines 110044 110397 +353
Branches 31537 31808 +271
==========================================
+ Hits 15608 15655 +47
- Misses 77482 77751 +269
- Partials 16954 16991 +37
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takayuki5168
approved these changes
Jul 18, 2023
kosuke55
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Jul 20, 2023
…on#4302) * fix(goal_planner): fix publishing new modified goal Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
If checking new modfied goal we need to use not uuid in the node but id of
GoalCandidatein goal planner.But id can not be got in the node side, so use the distance between current and previous modified goal.
Related links
Tests performed
psim, tier4 internal scenario
https://evaluation.tier4.jp/evaluation/reports/5418fd51-a30c-5dcb-b620-f43fcb092d8c?project_id=prd_jt
1553/1588 -> 1570/1588
Notes for reviewers
Interface changes
none
Effects on system behavior
none
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