delete comment out \n add debug values of steer

Signed-off-by: N-Eiki <[email protected]>
N-Eiki · Jun 5, 2024 · 4461684 · 4461684
1 parent cc08670
commit 4461684
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/...ake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/...ake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp
@@ -109,9 +109,7 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
   rclcpp::Publisher<CalibrationStatus>::SharedPtr calibration_status_pub_;
 
   rclcpp::Subscription<VelocityReport>::SharedPtr velocity_sub_;
-  // rclcpp::Subscription<SteeringReport>::SharedPtr steer_sub_;
-  // rclcpp::Subscription<ActuationStatusStamped>::SharedPtr actuation_status_sub_;
-  // rclcpp::Subscription<ActuationCommandStamped>::SharedPtr actuation_cmd_sub_;
+
   tier4_autoware_utils::InterProcessPollingSubscriber<SteeringReport> steer_sub_{
     this, "~/input/steer"};
   tier4_autoware_utils::InterProcessPollingSubscriber<ActuationStatusStamped> actuation_status_sub_{

diff --git a/vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp b/vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp
@@ -311,6 +311,8 @@ void AccelBrakeMapCalibrator::timerCallback()
     return;
   }
 
+  debug_values_.data.at(CURRENT_STEER) = steer_ptr_->steering_tire_angle;
+
   // data check 2
   if (
     isTimeout(twist_ptr_->header.stamp, timeout_sec_) ||