fix(traffic_simulator) Fix an issue with follow trajectory action

- Updated makeUpdatedStatus to fix an issue with toCanonicalizedLaneletPose
tier4 · Jan 28, 2025 · 336a7ee · 336a7ee
1 parent 5b247b2
commit 336a7ee
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/simulation/traffic_simulator/src/behavior/follow_trajectory.cpp b/simulation/traffic_simulator/src/behavior/follow_trajectory.cpp
@@ -577,8 +577,8 @@ auto makeUpdatedStatus(
     /// @note If it is the transition between lanelets: overwrite position to improve precision
     if (entity_status.lanelet_pose_valid) {
       constexpr bool desired_velocity_is_global{true};
-      const auto canonicalized_lanelet_pose = traffic_simulator::pose::toCanonicalizedLaneletPose(
-        entity_status.pose, entity_status.bounding_box, include_crosswalk, matching_distance);
+      const auto canonicalized_lanelet_pose =
+        traffic_simulator::pose::toCanonicalizedLaneletPose(entity_status.lanelet_pose);
       const auto estimated_next_canonicalized_lanelet_pose =
         traffic_simulator::pose::toCanonicalizedLaneletPose(
           updated_status.pose, entity_status.bounding_box, include_crosswalk, matching_distance);