Merge branch 'main' into feature/create_predicted_path_from_target_ve…

…lcoity Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
kyoichi-sugahara · Jun 9, 2023 · 9db1416 · 9db1416
2 parents 1ae32a3 + 21b6403
commit 9db1416
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Showing 3 changed files with 3 additions and 3 deletions.
diff --git a/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp b/map/map_loader/src/pointcloud_map_loader/pointcloud_map_loader_node.cpp
@@ -68,7 +68,7 @@ PointCloudMapLoaderNode::PointCloudMapLoaderNode(const rclcpp::NodeOptions & opt
       std::make_unique<PointcloudMapLoaderModule>(this, pcd_paths, publisher_name, true);
   }
 
-  if (enable_partial_load || enable_differential_load) {
+  if (enable_partial_load || enable_differential_load || enable_selected_load) {
     std::map<std::string, PCDFileMetadata> pcd_metadata_dict;
     try {
       pcd_metadata_dict = getPCDMetadata(pcd_metadata_path, pcd_paths);

diff --git a/planning/obstacle_cruise_planner/src/node.cpp b/planning/obstacle_cruise_planner/src/node.cpp
@@ -1251,7 +1251,7 @@ void ObstacleCruisePlannerNode::publishDebugMarker() const
   for (size_t i = 0; i < debug_data_ptr_->obstacles_to_cruise.size(); ++i) {
     // obstacle
     const auto obstacle_marker = obstacle_cruise_utils::getObjectMarker(
-      debug_data_ptr_->obstacles_to_cruise.at(i).pose, i, "obstacles_to_cruise", 1.0, 0.3, 0.0);
+      debug_data_ptr_->obstacles_to_cruise.at(i).pose, i, "obstacles_to_cruise", 1.0, 0.5, 0.5);
     debug_marker.markers.push_back(obstacle_marker);
 
     // collision points

diff --git a/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp b/planning/obstacle_cruise_planner/src/pid_based_planner/pid_based_planner.cpp
@@ -314,7 +314,7 @@ std::vector<TrajectoryPoint> PIDBasedPlanner::planCruise(
         stop_traj_points.at(wall_idx).pose, "obstacle cruise", planner_data.current_time, 0);
       // NOTE: use a different color from slow down one to visualize cruise and slow down
       // separately.
-      markers.markers.front().color = tier4_autoware_utils::createMarkerColor(1.0, 0.3, 0.0, 0.5);
+      markers.markers.front().color = tier4_autoware_utils::createMarkerColor(1.0, 0.5, 0.5, 0.5);
       tier4_autoware_utils::appendMarkerArray(markers, &debug_data_ptr_->cruise_wall_marker);
 
       // cruise obstacle