50 const std::shared_ptr<ControlCommand>& control_core_command) {
51 const auto start_time = Clock::Instance()->Now();
54 control_command = *control_core_command;
57 if (control_core_command->header().status().error_code() != ErrorCode::OK) {
58 AWARN_EVERY(100) <<
"Estop triggered! No control core method executed!";
59 control_command.set_speed(0);
60 control_command.set_throttle(0);
61 control_command.set_brake(FLAGS_soft_estop_brake);
66 control_command.mutable_header()->set_lidar_timestamp(
67 control_core_command->header().lidar_timestamp());
68 control_command.mutable_header()->set_camera_timestamp(
69 control_core_command->header().camera_timestamp());
70 control_command.mutable_header()->set_radar_timestamp(
71 control_core_command->header().radar_timestamp());
73 common::util::FillHeader(
Name(), &control_command);
74 const auto end_time = Clock::Instance()->Now();
78 FLAGS_control_command_topic);
82 postprocessor_writer_->Write(control_command);
bool Proc(const std::shared_ptr< ControlCommand > &control_command) override