feat(motion_utils): substitute input path initila point informaiton (a…

…utowarefoundation#1518) Signed-off-by: yutaka <purewater0901@gmail.com>
HaoruXue · Aug 10, 2022 · 91b37d7 · 91b37d7
1 parent 3519292
commit 91b37d7
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/common/motion_utils/src/resample/resample.cpp b/common/motion_utils/src/resample/resample.cpp
@@ -152,6 +152,8 @@ autoware_auto_planning_msgs::msg::PathWithLaneId resamplePath(
   v_lon.front() = input_path.points.front().point.longitudinal_velocity_mps;
   v_lat.front() = input_path.points.front().point.lateral_velocity_mps;
   heading_rate.front() = input_path.points.front().point.heading_rate_rps;
+  is_final.front() = input_path.points.front().point.is_final;
+  lane_ids.front() = input_path.points.front().lane_ids;
   for (size_t i = 1; i < input_path.points.size(); ++i) {
     const auto & prev_pt = input_path.points.at(i - 1).point;
     const auto & curr_pt = input_path.points.at(i).point;