undo copyright year.\n delete if nest for CodeScene Cloud Delta Analy…

…sis.\n handle new msg

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp

@@ -1,5 +1,5 @@
 //
-// Copyright 2024 Tier IV, Inc. All rights reserved.
+// Copyright 2020 Tier IV, Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -30,6 +30,7 @@
 
 #include "autoware_vehicle_msgs/msg/steering_report.hpp"
 #include "autoware_vehicle_msgs/msg/velocity_report.hpp"
+
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "std_msgs/msg/bool.hpp"
@@ -59,6 +60,7 @@ namespace accel_brake_map_calibrator
 
 using autoware_vehicle_msgs::msg::SteeringReport;
 using autoware_vehicle_msgs::msg::VelocityReport;
+
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using raw_vehicle_cmd_converter::AccelMap;

vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp

@@ -1,5 +1,5 @@
 //
-// Copyright 202 Tier IV, Inc. All rights reserved.
+// Copyright 2020 Tier IV, Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -261,6 +261,8 @@ bool AccelBrakeMapCalibrator::getCurrentPitchFromTF(double * pitch)
   return true;
 }
 
+
+
 void AccelBrakeMapCalibrator::timerCallback()
 {
   update_count_++;
@@ -283,16 +285,17 @@ void AccelBrakeMapCalibrator::timerCallback()
   // take data from subscribers
 
   // take actuation data
-  if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::STATUS) {
-    ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData();
-    if (!actuation_status_ptr) return;
+  ActuationStatusStamped::ConstSharedPtr actuation_status_ptr = actuation_status_sub_.takeData();
+  ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData();
+  if (actuation_status_ptr) {
     takeActuationStatus(actuation_status_ptr);
   }
-  if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::COMMAND) {
-    ActuationCommandStamped::ConstSharedPtr actuation_cmd_ptr = actuation_cmd_sub_.takeData();
-    if (!actuation_cmd_ptr) return;
+  else if (actuation_cmd_ptr) {
     takeActuationCommand(actuation_cmd_ptr);
   }
+  else {
+    return;
+  }
 
   // take velocity data
   VelocityReport::ConstSharedPtr velocity_ptr = velocity_sub_.takeData();