fix(autoware_mpc_lateral_controller): add timestamp and frame ID to p…

…ublished trajectory (autowarefoundation#8164) (#1452) add timestamp and frame ID to published trajectory Signed-off-by: kyoichi-sugahara <[email protected]> Co-authored-by: Kyoichi Sugahara <[email protected]>
tier4 · Aug 8, 2024 · 1a60db7 · 1a60db7
1 parent 913d199
commit 1a60db7
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/control/autoware_mpc_lateral_controller/src/mpc.cpp b/control/autoware_mpc_lateral_controller/src/mpc.cpp
@@ -804,8 +804,10 @@ Trajectory MPC::calculatePredictedTrajectory(
     const auto frenet = m_vehicle_model_ptr->calculatePredictedTrajectoryInFrenetCoordinate(
       mpc_matrix.Aex, mpc_matrix.Bex, mpc_matrix.Cex, mpc_matrix.Wex, x0, Uex, reference_trajectory,
       dt);
-    const auto frenet_clipped = MPCUtils::convertToAutowareTrajectory(
+    auto frenet_clipped = MPCUtils::convertToAutowareTrajectory(
       MPCUtils::clipTrajectoryByLength(frenet, predicted_length));
+    frenet_clipped.header.stamp = m_clock->now();
+    frenet_clipped.header.frame_id = "map";
     m_debug_frenet_predicted_trajectory_pub->publish(frenet_clipped);
   }