Car 6057 motion comp ctrv configurable HOTFIX (#2400)

usdot-fhwa-stol · Jun 7, 2024 · 10e08f7 · 10e08f7
1 parent a10d0ad
commit 10e08f7
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/motion_computation/src/motion_computation_node.cpp b/motion_computation/src/motion_computation_node.cpp
@@ -129,6 +129,11 @@ carma_ros2_utils::CallbackReturn MotionComputationNode::handle_on_configure(
  get_parameter<bool>("enable_psm_processing", config_.enable_psm_processing);
  get_parameter<bool>("enable_mobility_path_processing", config_.enable_mobility_path_processing);
  get_parameter<bool>("enable_sensor_processing", config_.enable_sensor_processing);
+ get_parameter<bool>("enable_ctrv_for_unknown_obj", config_.enable_ctrv_for_unknown_obj);
+ get_parameter<bool>("enable_ctrv_for_motorcycle_obj", config_.enable_ctrv_for_motorcycle_obj);
+ get_parameter<bool>("enable_ctrv_for_small_vehicle_obj", config_.enable_ctrv_for_small_vehicle_obj);
+ get_parameter<bool>("enable_ctrv_for_large_vehicle_obj", config_.enable_ctrv_for_large_vehicle_obj);
+ get_parameter<bool>("enable_ctrv_for_pedestrian_obj", config_.enable_ctrv_for_pedestrian_obj);
 
  RCLCPP_INFO_STREAM(get_logger(), "Loaded params: " << config_);