From 10e08f713819189f2eb66e81fe55a66adc8cc715 Mon Sep 17 00:00:00 2001 From: Misheel Bayartsengel Date: Fri, 7 Jun 2024 11:00:47 -0400 Subject: [PATCH] Car 6057 motion comp ctrv configurable HOTFIX (#2400) --- motion_computation/src/motion_computation_node.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/motion_computation/src/motion_computation_node.cpp b/motion_computation/src/motion_computation_node.cpp index b17708c14b..c45d23d889 100644 --- 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("enable_psm_processing", config_.enable_psm_processing); get_parameter("enable_mobility_path_processing", config_.enable_mobility_path_processing); get_parameter("enable_sensor_processing", config_.enable_sensor_processing); + get_parameter("enable_ctrv_for_unknown_obj", config_.enable_ctrv_for_unknown_obj); + get_parameter("enable_ctrv_for_motorcycle_obj", config_.enable_ctrv_for_motorcycle_obj); + get_parameter("enable_ctrv_for_small_vehicle_obj", config_.enable_ctrv_for_small_vehicle_obj); + get_parameter("enable_ctrv_for_large_vehicle_obj", config_.enable_ctrv_for_large_vehicle_obj); + get_parameter("enable_ctrv_for_pedestrian_obj", config_.enable_ctrv_for_pedestrian_obj); RCLCPP_INFO_STREAM(get_logger(), "Loaded params: " << config_);