fix(simple pure pursuit): last stop (#39)

AutomotiveAIChallenge · Nov 29, 2023 · 27763db · 27763db
1 parent 3309c90
commit 27763db
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/..._ws/src/aichallenge_submit/autoware_micro/simple_pure_pursuit/src/simple_pure_pursuit.cpp b/..._ws/src/aichallenge_submit/autoware_micro/simple_pure_pursuit/src/simple_pure_pursuit.cpp
@@ -64,6 +64,8 @@ void SimplePurePursuit::onTimer()
   if (
     (closet_traj_point_idx == trajectory_->points.size() - 1) ||
     (trajectory_->points.size() <= 5)) {
+    cmd.longitudinal.speed = 0.0;
+    cmd.longitudinal.acceleration = -10.0;
     RCLCPP_INFO_THROTTLE(get_logger(), *get_clock(), 1000 /*ms*/, "reached to the goal");
   } else {
     // get closest trajectory point from current position