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fix(scnenario_selector): prevent changing scneario when same uuid route is received #4569

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Aug 10, 2023
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fix(scnenario_selector): prevent changing scneario when same uuid route is received #4569

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7 changes: 6 additions & 1 deletion planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -197,8 +197,13 @@ void ScenarioSelectorNode::onMap(
void ScenarioSelectorNode::onRoute(
const autoware_planning_msgs::msg::LaneletRoute::ConstSharedPtr msg)
{
// When the route id is the same (e.g. reporting with modified goal) keep the current scenario.
// Otherwise, reset the scenario.
if (!route_handler_ || route_handler_->getRouteUuid() != msg->uuid) {
current_scenario_ = tier4_planning_msgs::msg::Scenario::EMPTY;
}

route_ = msg;
current_scenario_ = tier4_planning_msgs::msg::Scenario::EMPTY;
}

void ScenarioSelectorNode::onOdom(const nav_msgs::msg::Odometry::ConstSharedPtr msg)
Expand Down