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fix(autoware_mpc_lateral_controller): add timestamp and frame ID to published trajectory (#8164) #1452

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Aug 8, 2024
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fix(autoware_mpc_lateral_controller): add timestamp and frame ID to published trajectory (#8164) #1452

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4 changes: 3 additions & 1 deletion control/autoware_mpc_lateral_controller/src/mpc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
}

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