fix: waypoint msg for dev launch

una-auxme · Jan 12, 2024 · 771ffb6 · 771ffb6
1 parent f00f337
commit 771ffb6
Show file tree

Hide file tree

Showing 2 changed files with 9 additions and 1 deletion.
diff --git a/code/perception/src/global_plan_distance_publisher.py b/code/perception/src/global_plan_distance_publisher.py
@@ -44,11 +44,17 @@ def __init__(self):
             self.update_position,
             qos_profile=1)
 
+        # Change comment for dev_launch
         self.global_plan_subscriber = self.new_subscription(
             CarlaRoute,
             "/carla/" + self.role_name + "/global_plan",
             self.update_global_route,
             qos_profile=1)
+        # self.global_plan_subscriber = self.new_subscription(
+        #     CarlaRoute,
+        #     "/paf/" + self.role_name + "/global_plan",
+        #     self.update_global_route,
+        #     qos_profile=1)
 
         self.waypoint_publisher = self.new_publisher(
             Waypoint,

diff --git a/code/planning/src/global_planner/dev_global_route.py b/code/planning/src/global_planner/dev_global_route.py
@@ -14,11 +14,13 @@
 
 """
 This node is currently used for importing a CarlaRoute to dev.launch.
-For this you need to follow 3 steps:
+For this you need to follow 4 steps:
 1. In plannning.launch: Uncomment this node and change the .txt file if needed
 2. In global_planner.py: Change the subscriber of carla/hero/global_plan to paf
 3. In gobal_planner.py: At the end of the init uncomment the
     self.dev_load_world_info()
+4. In global_plan_distance_publisher.py:
+    Change the subscriber of carla/hero/global_plan to paf
 """