From 157f5d37fe4c0c4d74c2fb29d6db6447a5aeef11 Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Tue, 6 Sep 2022 13:46:51 +0900
Subject: [PATCH] fix(tier4_vehicle_rviz_plugin): initialization vehicle rviz
 plugin (#1379) (#109)

fix(tier4_vehicle_rviz_plugin): initialization vehicle rivz plugin (#1379)

* fix(tier4_vehicle_rviz_plugin): initialization vehicle rviz plugin

Signed-off-by: Takeshi Miura <m.takeshi1995@gmail.com>

* initialize signal_type

Signed-off-by: Takeshi Miura <m.takeshi1995@gmail.com>

Signed-off-by: Takeshi Miura <m.takeshi1995@gmail.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
---
 .../tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp  | 5 ++---
 .../tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp | 5 ++---
 common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp | 7 +++----
 3 files changed, 7 insertions(+), 10 deletions(-)

diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp b/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
index 9c52330af5701..f13e971b4d6d6 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/console_meter.cpp
@@ -95,10 +95,9 @@ void ConsoleMeterDisplay::update(float wall_dt, float ros_dt)
   double linear_x = 0;
   {
     std::lock_guard<std::mutex> message_lock(mutex_);
-    if (!last_msg_ptr_) {
-      return;
+    if (last_msg_ptr_) {
+      linear_x = last_msg_ptr_->longitudinal_velocity;
     }
-    linear_x = last_msg_ptr_->longitudinal_velocity;
   }
 
   QColor background_color;
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp b/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp
index b96aa0906ecb6..18977367afbce 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/steering_angle.cpp
@@ -106,10 +106,9 @@ void SteeringAngleDisplay::update(float wall_dt, float ros_dt)
   double steering = 0;
   {
     std::lock_guard<std::mutex> message_lock(mutex_);
-    if (!last_msg_ptr_) {
-      return;
+    if (last_msg_ptr_) {
+      steering = last_msg_ptr_->steering_tire_angle;
     }
-    steering = last_msg_ptr_->steering_tire_angle;
   }
 
   QColor background_color;
diff --git a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp b/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp
index 1852f0392c063..b9ff54ef44ecd 100644
--- a/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp
+++ b/common/tier4_vehicle_rviz_plugin/src/tools/turn_signal.cpp
@@ -103,13 +103,12 @@ void TurnSignalDisplay::update(float wall_dt, float ros_dt)
   (void)wall_dt;
   (void)ros_dt;
 
-  unsigned int signal_type;
+  unsigned int signal_type = 0;
   {
     std::lock_guard<std::mutex> message_lock(mutex_);
-    if (!last_msg_ptr_) {
-      return;
+    if (last_msg_ptr_) {
+      signal_type = last_msg_ptr_->report;
     }
-    signal_type = last_msg_ptr_->report;
   }
 
   QColor background_color;