chore(simple_planning_simulator): publish control mode before the self-position is given (autowarefoundation#7008)

tkimura4 · TomohitoAndo · commit 44f32fe8a401 · 2024-05-17T07:53:16.000+09:00
Signed-off-by: tomoya.kimura &lt;tomoya.kimura@tier4.jp&gt;
diff --git a/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp b/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp
@@ -343,6 +343,7 @@ double SimplePlanningSimulator::calculate_ego_pitch() const
 void SimplePlanningSimulator::on_timer()
 {
   if (!is_initialized_) {
+    publish_control_mode_report();
     RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting initialization...");
     return;
   }

Original file line number	Diff line number	Diff line change
`@@ -343,6 +343,7 @@ double SimplePlanningSimulator::calculate_ego_pitch() const`
`343`	`343`	`void SimplePlanningSimulator::on_timer()`
`344`	`344`	`{`
`345`	`345`	`if (!is_initialized_) {`
	`346`	`+ publish_control_mode_report();`
`346`	`347`	`RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 5000, "waiting initialization...");`
`347`	`348`	`return;`
`348`	`349`	`}`