fix(motion_velocity_smoother): velocity limit when engage status (#621)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
tier4 · Apr 14, 2022 · 3d6631f · 3d6631f
1 parent 4e2ff41
commit 3d6631f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -373,7 +373,7 @@ void MotionVelocitySmootherNode::onExternalVelocityLimit(const VelocityLimit::Co
         const double a0 = prev_closest_point_->acceleration_mps2;
 
         if (isEngageStatus(v0)) {
-          max_velocity_with_deceleration_ = external_velocity_limit_;
+          max_velocity_with_deceleration_ = msg->max_velocity;
           external_velocity_limit_dist_ = 0.0;
         } else {
           const double a_min =