From 7c1c421c039a5248c8a1f1e43c1bed9eb862377e Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Thu, 4 Jul 2024 18:02:21 +0900 Subject: [PATCH] fix(motion_velocity_planner): use the slowdown velocity (instead of 0) (#7840) Signed-off-by: Maxime CLEMENT --- .../autoware_motion_velocity_planner_node/src/node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp index 2bc820d74693b..a8b84fa3dafda 100644 --- a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp +++ b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp @@ -325,7 +325,7 @@ void MotionVelocityPlannerNode::insert_slowdown( autoware::motion_utils::insertTargetPoint(to_seg_idx, slowdown_interval.to, trajectory.points); if (from_insert_idx && to_insert_idx) { for (auto idx = *from_insert_idx; idx <= *to_insert_idx; ++idx) - trajectory.points[idx].longitudinal_velocity_mps = 0.0; + trajectory.points[idx].longitudinal_velocity_mps = slowdown_interval.velocity; } else { RCLCPP_WARN(get_logger(), "Failed to insert slowdown point"); }