fix(operation_mode_transition_manager): add required param (#1342)

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Jul 14, 2022 · adf9cc0 · adf9cc0
1 parent 6af670b
commit adf9cc0
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/control/operation_mode_transition_manager/src/operation_mode_transition_manager.cpp b/control/operation_mode_transition_manager/src/operation_mode_transition_manager.cpp
@@ -211,7 +211,8 @@ bool OperationModeTransitionManager::checkEngageAvailable()
   const auto & param = engage_acceptable_param_;
 
   if (data_->trajectory.points.size() < 2) {
-    RCLCPP_WARN(get_logger(), "Engage unavailable: trajectory size must be > 2");
+    RCLCPP_WARN_SKIPFIRST_THROTTLE(
+      get_logger(), *get_clock(), 5000, "Engage unavailable: trajectory size must be > 2");
     debug_info_ = OperationModeTransitionManagerDebug{};  // all false
     return false;
   }

diff --git a/...nch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml b/...nch/config/operation_mode_transition_manager/operation_mode_transition_manager.param.yaml
@@ -2,6 +2,7 @@
   ros__parameters:
     frequency_hz: 10.0
     engage_acceptable_limits:
+      allow_autonomous_in_stopped: true  # no check if the velocity is zero, always allowed.
       dist_threshold: 1.5
       yaw_threshold: 0.524
       speed_upper_threshold: 10.0