fix(smart_mpc_trajectory_folower): fix running by adding control_state and changing msg/package_name #7666
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…e and changing msg/package_name Signed-off-by: kosuke55 <[email protected]>
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TakaHoribe
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Jun 25, 2024
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Jun 26, 2024
…e and changing msg/package_name (autowarefoundation#7666) Signed-off-by: kosuke55 <[email protected]> Signed-off-by: Simon Eisenmann <[email protected]>
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Jul 2, 2024
…e and changing msg/package_name (autowarefoundation#7666) Signed-off-by: kosuke55 <[email protected]>
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…e and changing msg/package_name (autowarefoundation#7666) Signed-off-by: kosuke55 <[email protected]>
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Jul 22, 2024
…e and changing msg/package_name (#7666) Signed-off-by: kosuke55 <[email protected]>
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Description
smart_mpc can not work by some recent other package modification.
In this PR, fix it by
control state is checked in
https://github.com/tier4/autoware.universe/blob/ebc73da8d5c503e76a9bc86cc29cc0ad52c5b9c0/system/system_diagnostic_monitor/config/control.yaml#L55-L58
this feature was introduced in #6715
use same state which is used in pid https://github.com/tier4/autoware.universe/blob/ebc73da8d5c503e76a9bc86cc29cc0ad52c5b9c0/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp#L126
(but it is better to share the structure in actual)
Tests performed
psim
control state changes like
stopped -> drive -> stopping -> stopped -> ....
smart_mpc_latest-2024-06-24_21.02.30.mp4
Effects on system behavior
Not applicable.
Interface changes
the executed module name is changed
pympc_trajectory_follower->controller_node_exePre-review checklist for the PR author
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