From 27763db6b451e45e53e2e013f0088c61e15d0b5e Mon Sep 17 00:00:00 2001
From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Wed, 29 Nov 2023 13:18:05 +0900
Subject: [PATCH] fix(simple pure pursuit): last stop (#39)

---
 .../simple_pure_pursuit/src/simple_pure_pursuit.cpp             | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_micro/simple_pure_pursuit/src/simple_pure_pursuit.cpp b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_micro/simple_pure_pursuit/src/simple_pure_pursuit.cpp
index 8ecbd5a..aa3ac2b 100644
--- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_micro/simple_pure_pursuit/src/simple_pure_pursuit.cpp
+++ b/docker/aichallenge/aichallenge_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