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check pose information before requesting movement to start #1

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8 changes: 8 additions & 0 deletions fav/src/scenario/scenario_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,11 @@ void ScenarioNode::ServeStart(
response->message = "Already running.";
return;
}
if (!initial_position_information_received_){
response->success = false;
response->message = "Current vehicle position still unknown.";
return;
}
Reset();
running_ = true;
using hippo_common::convert::EigenToRos;
Expand Down Expand Up @@ -300,6 +305,9 @@ void ScenarioNode::OnPose(
using hippo_common::convert::RosToEigen;
RosToEigen(_msg->pose.pose.position, vehicle_position_);
RosToEigen(_msg->pose.pose.orientation, vehicle_orientation_);
if (!initial_position_information_received_){
initial_position_information_received_ = true;
}

UpdateViewpointProgress();
viewpoint_index_.current = FindViewpointInTolerance();
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1 change: 1 addition & 0 deletions fav/src/scenario/scenario_node.hpp
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Expand Up @@ -66,6 +66,7 @@ class ScenarioNode : public rclcpp::Node {
bool running_{false};
bool start_position_reached_{false};
bool viewpoints_finished_{false};
bool initial_position_information_received_{false};
Eigen::Vector3d vehicle_position_;
Eigen::Quaterniond vehicle_orientation_;
ViewpointIndex viewpoint_index_;
Expand Down