port pedestrian_follow_lane scenario

Signed-off-by: Masaya Kataoka <[email protected]>
tier4 · Feb 10, 2025 · 3cb555c · 3cb555c
1 parent 32df61a
commit 3cb555c
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Showing 2 changed files with 22 additions and 21 deletions.
diff --git a/mock/context_gamma_scenarios/src/context_gamma_planner/CMakeLists.txt b/mock/context_gamma_scenarios/src/context_gamma_planner/CMakeLists.txt
@@ -38,15 +38,15 @@ target_link_libraries(reverse_walk_at_road
   zmq
 )
 
-# ament_auto_add_executable(pedestrian_follow_lane
-#   pedestrian_follow_lane.cpp
-# )
-# target_link_libraries(pedestrian_follow_lane
-#   ${PROTOBUF_LIBRARY}
-#   pthread
-#   sodium
-#   zmq
-# )
+ament_auto_add_executable(pedestrian_follow_lane
+  pedestrian_follow_lane.cpp
+)
+target_link_libraries(pedestrian_follow_lane
+  ${PROTOBUF_LIBRARY}
+  pthread
+  sodium
+  zmq
+)
 
 # ament_auto_add_executable(stop_line_running
 #   stop_line_running.cpp

diff --git a/mock/context_gamma_scenarios/src/context_gamma_planner/pedestrian_follow_lane.cpp b/mock/context_gamma_scenarios/src/context_gamma_planner/pedestrian_follow_lane.cpp
@@ -43,10 +43,11 @@ class PedestrianFollowLane : public cpp_mock_scenarios::CppScenarioNode
   void onUpdate() override
   {
     const auto t = api_.getCurrentTime();
-    if (
-      static_cast<traffic_simulator::LaneletPose>(api_.getEntityStatus("ego").getLaneletPose())
-        .lanelet_id == checkpoint_ids_.at(step_)) {
-      step_++;
+    const auto & ego = api_.getEntity("ego");
+    if (const auto & lanelet_pose = ego.getCanonicalizedLaneletPose()) {
+      if (lanelet_pose.value().getLaneletPose().lanelet_id == checkpoint_ids_.at(step_)) {
+        step_++;
+      }
     }
     if (step_ == static_cast<int>(checkpoint_ids_.size())) {
       stop(cpp_mock_scenarios::Result::SUCCESS);
@@ -63,17 +64,17 @@ class PedestrianFollowLane : public cpp_mock_scenarios::CppScenarioNode
     api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34426, 10.0, 0),
       getPedestrianParameters(), traffic_simulator::PedestrianBehavior::contextGamma());
-    api_.requestSpeedChange(
-      "ego", 4.0, traffic_simulator::speed_change::Transition::LINEAR,
+    auto & ego = api_.getEntity("ego");
+    ego.requestSpeedChange(
+      4.0, traffic_simulator::speed_change::Transition::LINEAR,
       traffic_simulator::speed_change::Constraint(
         traffic_simulator::speed_change::Constraint::Type::LONGITUDINAL_ACCELERATION, 1.0),
       true);
-    api_.requestAssignRoute(
-      "ego", std::vector<traffic_simulator::CanonicalizedLaneletPose>{
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(35016, 0.0, 0),
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(35026, 0.0, 0),
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(35036, 0.0, 0),
-               traffic_simulator::helper::constructCanonicalizedLaneletPose(34981, 1.0, 0)});
+    ego.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(35016, 0.0, 0),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(35026, 0.0, 0),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(35036, 0.0, 0),
+      traffic_simulator::helper::constructCanonicalizedLaneletPose(34981, 1.0, 0)});
   }
 };