fix(ad_service_state_monitor): rad2deg conversion (autowarefoundation…

…#252) Signed-off-by: h-ohta <hiroki.ota@tier4.jp>
badai-nguyen · Jan 25, 2022 · d4485d8 · d4485d8
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commit d4485d8
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/system/ad_service_state_monitor/launch/ad_service_state_monitor.launch.xml b/system/ad_service_state_monitor/launch/ad_service_state_monitor.launch.xml
@@ -41,6 +41,7 @@
 
     <param name="update_rate" value="$(var update_rate)" />
     <param name="th_arrived_distance_m" value="$(var th_arrived_distance_m)" />
+    <param name="th_arrived_angle_deg" value="$(var th_arrived_angle_deg)" />
     <param name="th_stopped_time_sec" value="$(var th_stopped_time_sec)" />
     <param name="th_stopped_velocity_mps" value="$(var th_stopped_velocity_mps)" />
     <param name="disengage_on_route" value="$(var disengage_on_route)" />

diff --git a/...service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp b/...service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp
@@ -398,8 +398,8 @@ AutowareStateMonitorNode::AutowareStateMonitorNode()
 
   // Parameter for StateMachine
   state_param_.th_arrived_distance_m = this->declare_parameter("th_arrived_distance_m", 1.0);
-  state_param_.th_arrived_angle =
-    this->declare_parameter("th_arrived_angle_deg", tier4_autoware_utils::deg2rad(45.0));
+  const auto th_arrived_angle_deg = this->declare_parameter("th_arrived_angle_deg", 45.0);
+  state_param_.th_arrived_angle = tier4_autoware_utils::deg2rad(th_arrived_angle_deg);
   state_param_.th_stopped_time_sec = this->declare_parameter("th_stopped_time_sec", 1.0);
   state_param_.th_stopped_velocity_mps = this->declare_parameter("th_stopped_velocity_mps", 0.01);