Skip to content

RJD-1666 Change PathWithLaneId subscription to /api/routing/route #51

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: master
Choose a base branch
from
Open

RJD-1666 Change PathWithLaneId subscription to /api/routing/route #51

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 3 additions & 1 deletion external/concealer/include/concealer/field_operator_application.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include <sys/wait.h>

#include <autoware_adapi_v1_msgs/msg/mrm_state.hpp>
#include <autoware_adapi_v1_msgs/msg/route.hpp>
#include <autoware_adapi_v1_msgs/srv/change_operation_mode.hpp>
#include <autoware_adapi_v1_msgs/srv/clear_route.hpp>
#include <autoware_adapi_v1_msgs/srv/initialize_localization.hpp>
Expand Down Expand Up @@ -89,6 +90,7 @@ struct FieldOperatorApplication : public rclcpp::Node
using AutoModeWithModule = tier4_rtc_msgs::srv::AutoModeWithModule;
using SetVelocityLimit = tier4_external_api_msgs::srv::SetVelocityLimit;
using ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode;
using Route = autoware_adapi_v1_msgs::msg::Route;

Subscriber<AutowareState> getAutowareState;
Subscriber<Control> getCommand;
Expand All @@ -101,7 +103,7 @@ struct FieldOperatorApplication : public rclcpp::Node
#if __has_include(<autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>)
Subscriber<OperationModeState> getOperationModeState;
#endif
Subscriber<priority::PathWithLaneId> getPathWithLaneId;
Subscriber<Route> getRoute;
#if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
Subscriber<RouteState> getRouteState;
#endif
Expand Down
2 changes: 1 addition & 1 deletion external/concealer/src/field_operator_application.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -147,7 +147,7 @@ FieldOperatorApplication::FieldOperatorApplication(const pid_t pid)
#if __has_include(<autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>)
getOperationModeState("/api/operation_mode/state", rclcpp::QoS(1).transient_local(), *this),
#endif
getPathWithLaneId("/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id", rclcpp::QoS(1), *this),
getRoute("/api/routing/route", rclcpp::QoS(1), *this),
#if __has_include(<autoware_adapi_v1_msgs/msg/route_state.hpp>)
getRouteState("/api/routing/state", rclcpp::QoS(1).transient_local(), *this),
#endif
Expand Down
8 changes: 4 additions & 4 deletions simulation/traffic_simulator/src/entity/ego_entity.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -143,11 +143,11 @@ auto EgoEntity::getObstacle() -> std::optional<traffic_simulator_msgs::msg::Obst
auto EgoEntity::getRouteLanelets(double /*unused horizon*/) -> lanelet::Ids
{
lanelet::Ids ids{};

for (const auto & point : getPathWithLaneId().points) {
ids += point.lane_ids;
for (const auto & route_data : getRoute().data) {
for (const auto & segment : route_data.segments) {
ids.push_back(segment.preferred.id);
}
}

return ids;
}

Expand Down