15.0.3
Description
Abstract
This PR removes the subscription to a topic of type tier4_planning_msgs::msg::Trajectory.
Background
This subscription was present in the code since the beginning of scenario simulator. However, it is not a part of Autoware API, so ideally it should not be used.
Details
The subscription was only used to draw markers in RViz using EgoEntity::getWaypoints overload.
Although, since the Autoware trajectory is already being drawn in another part of RViz configuration, the additional visualization performed by scenario simulator is not necessary.
It was concluded, that the trajectory subscription can be safely removed, as well as the FieldOperatorApplication::getWaypoints member function.
To account for the deletion, the EgoEntity::getWaypoints member function was modified to return an empty waypoints array. An appropriate comment has been added.
This way, the visualization component will not draw any markers for EgoEntity's trajectory.
Comparison before and after the subscription removal
| Trajectory drawn for Ego by scenario simulator's visualization component | Trajectory drawn for Ego directly by the RViz trajectory plugin (after the subscription removal) |
|---|---|
 |
 |
References
Destructive Changes
None
Known Limitations
The new implementation of EgoEntity::getWaypoints always returns an empty array. This is fine for visualization, but if this member function was ever used for something different, it should be noted that EgoEntity's overload of EntityBase::getWaypoints does not work the same as for other non-stationary entity types.
It is not possible to obtain the actual trajectory waypoints of Autoware.