From 3d6631f62121a334e7d9c291cb5bf7983f03d50a Mon Sep 17 00:00:00 2001 From: Makoto Kurihara Date: Tue, 5 Apr 2022 18:00:30 +0900 Subject: [PATCH] fix(motion_velocity_smoother): velocity limit when engage status (#621) Signed-off-by: Makoto Kurihara --- .../src/motion_velocity_smoother_node.cpp | 2 +- 1 file changed, 1 insertion(+), 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 index 5f1c27539bcc..3a3512d9e634 100644 --- 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 =