fix(motion_velocity_smoother): make stopping_distance and stopping_ve…

…locity be able to work (autowarefoundation#6037) (#1341) Signed-off-by: Berkay Karaman <[email protected]> Co-authored-by: Berkay Karaman <[email protected]>
tier4 · Jun 19, 2024 · d6f95ed · d6f95ed
1 parent fed4253
commit d6f95ed
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp b/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp
@@ -453,6 +453,9 @@ void MotionVelocitySmootherNode::onCurrentTrajectory(const Trajectory::ConstShar
     return;
   }
 
+  // Set 0 at the end of the trajectory
+  input_points.back().longitudinal_velocity_mps = 0.0;
+
   // calculate prev closest point
   if (!prev_output_.empty()) {
     current_closest_point_from_prev_output_ = calcProjectedTrajectoryPointFromEgo(prev_output_);