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fix(run_out): fix virtual wall pose #11267

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Merged
merged 1 commit into from
Sep 5, 2025
+8 −5
Merged

fix(run_out): fix virtual wall pose #11267

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13 changes: 8 additions & 5 deletions ...ng/motion_velocity_planner/autoware_motion_velocity_run_out_module/src/run_out_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -168,28 +168,31 @@ void RunOutModule::add_planning_factors(
if (trajectory.empty()) {
return;
}
geometry_msgs::msg::Pose p;
for (auto i = 0UL; i < result.velocity_planning_result.slowdown_intervals.size(); ++i) {
const auto & slowdown = result.velocity_planning_result.slowdown_intervals[i];
p.position = slowdown.from;
const auto length = motion_utils::calcSignedArcLength(trajectory, 0, slowdown.from);
const auto wall_pose = motion_utils::calcInterpolatedPose(trajectory, length);
autoware_internal_planning_msgs::msg::SafetyFactorArray safety_array;
safety_array.is_safe = false;
if (safety_factor_per_object.count(result.slowdown_objects[i]) > 0UL) {
safety_array.factors = {safety_factor_per_object.at(result.slowdown_objects[i])};
}
planning_factor_interface_->add(
trajectory, trajectory.front().pose, p, PlanningFactor::SLOW_DOWN, safety_array, true,
trajectory, trajectory.front().pose, wall_pose, PlanningFactor::SLOW_DOWN, safety_array, true,
slowdown.velocity);
}
for (auto i = 0UL; i < result.velocity_planning_result.stop_points.size(); ++i) {
p.position = result.velocity_planning_result.stop_points[i];
const auto length = motion_utils::calcSignedArcLength(
trajectory, 0, result.velocity_planning_result.stop_points.at(i));
const auto wall_pose = motion_utils::calcInterpolatedPose(trajectory, length);
autoware_internal_planning_msgs::msg::SafetyFactorArray safety_array;
safety_array.is_safe = false;
if (safety_factor_per_object.count(result.stop_objects[i]) > 0UL) {
safety_array.factors = {safety_factor_per_object.at(result.stop_objects[i])};
}
planning_factor_interface_->add(
trajectory, trajectory.front().pose, p, PlanningFactor::STOP, safety_array, true, 0.0);
trajectory, trajectory.front().pose, wall_pose, PlanningFactor::STOP, safety_array, true,
0.0);
}
}

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