refactor(pid_longitudinal_controller): set stopped state if ego is not in autonomous mode #3644
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Description
In the current implementation of
pid_longitudinal_controller
, if the operation mode is changed, the state will be the same. In this situation, if the goal is set, controller enters intoDRIVE
state until the vehicle reaches the goal. However, if the operation mode is changed while driving and set autonomous again, controller state stays inDRIVE
and the controller does not check thekeep_stopped_condition
. So vehicle starts to driving without checking steering converged or not.Tests performed
Tested in planning simulator, worked well.
Not applicable.
Effects on system behavior
Not applicable.
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