implementation of the MpcLateralController corrected!

HansOersted · HansOersted · commit cb8a702d9c2b · 2024-05-27T14:07:20.000+09:00
Signed-off-by: Zhe Shen &lt;lucidshenzhe@gmail.com&gt;
diff --git a/control/trajectory_follower_node/src/controller_node.cpp b/control/trajectory_follower_node/src/controller_node.cpp
@@ -39,7 +39,7 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control
     getLateralControllerMode(declare_parameter<std::string>("lateral_controller_mode"));
   switch (lateral_controller_mode) {
     case LateralControllerMode::MPC: {
-      lateral_controller_ = std::make_shared<mpc_lateral_controller::MpcLateralController>(*this);
+      lateral_controller_ = std::make_shared<mpc_lateral_controller::MpcLateralController>(*this, diag_updater_);
       break;
     }
     case LateralControllerMode::PURE_PURSUIT: {

Original file line number	Diff line number	Diff line change
`@@ -39,7 +39,7 @@ Controller::Controller(const rclcpp::NodeOptions & node_options) : Node("control`
`39`	`39`	`getLateralControllerMode(declare_parameter<std::string>("lateral_controller_mode"));`
`40`	`40`	`switch (lateral_controller_mode) {`
`41`	`41`	`case LateralControllerMode::MPC: {`
`42`		`- lateral_controller_ = std::make_shared<mpc_lateral_controller::MpcLateralController>(*this);`
	`42`	`+ lateral_controller_ = std::make_shared<mpc_lateral_controller::MpcLateralController>(*this, diag_updater_);`
`43`	`43`	`break;`
`44`	`44`	`}`
`45`	`45`	`case LateralControllerMode::PURE_PURSUIT: {`