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refactor(velocity_smoother): change method to take data for external velocity #7810

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Jul 4, 2024
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refactor(velocity_smoother): change method to take data for external velocity #7810

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5 changes: 1 addition & 4 deletions planning/autoware_velocity_smoother/src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -422,7 +422,7 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr
// receive data
current_odometry_ptr_ = sub_current_odometry_.takeData();
current_acceleration_ptr_ = sub_current_acceleration_.takeData();
external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeData();
external_velocity_limit_ptr_ = sub_external_velocity_limit_.takeNewData();
const auto operation_mode_ptr = sub_operation_mode_.takeData();
if (operation_mode_ptr) {
operation_mode_ = *operation_mode_ptr;
Expand Down Expand Up @@ -455,9 +455,6 @@ void VelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr
calcExternalVelocityLimit();
updateDataForExternalVelocityLimit();

// ignore current external velocity limit next time
external_velocity_limit_ptr_ = nullptr;

// For negative velocity handling, multiple -1 to velocity if it is for reverse.
// NOTE: this process must be in the beginning of the process
is_reverse_ = isReverse(input_points);
Expand Down
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