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fix(velocity_smoother): receive the latched external velocity limit - #141
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kotaro-hihara merged 1 commit intoOct 20, 2026
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The selector publishes max_vel with transient_local durability, so this subscription must use the same QoS to receive it at startup. Co-authored-by: Cursor <cursoragent@cursor.com>
kotaro-hihara
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rej55
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October 20, 2026 11:18
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Oct 20, 2026
N-Eiki
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Oct 20, 2026
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fix/v4.4.0.1-hotfix/external_velocity_limit_initial_max_vel
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October 20, 2026 11:46
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The selector publishes max_vel with transient_local durability, so this subscription must use the same QoS to receive it at startup.
related to this PR
Description
velocity_smoothersubscribed to~/input/external_velocity_limit_mpswith the default volatile QoS. The external velocity limit selector now publishesmax_velonce withrclcpp::QoS{1}.transient_local(), and a volatile subscriber does not receive that sample if it starts later. This changes the subscription to the same QoS so the smoother receives the latched limit at startup.Related links
Parent Issue:
related to tier4/autoware_universe#3628
How was this PR tested?
autoware_velocity_smootherlocally./planning/scenario_planning/max_velocityis published once at startup, and this node still receivesmax_vel.Notes for reviewers
The topic name and message type are unchanged. Only the subscription durability changes from volatile to
transient_local. A publisher that stays volatile will no longer match this subscription.Interface changes
QoS only.
~/input/external_velocity_limit_mps(autoware_internal_planning_msgs/msg/VelocityLimit) is nowrclcpp::QoS{1}.transient_local()instead of the default volatile QoS.Effects on system behavior
On the rule-based path,
velocity_smootherreceives the selector's startupmax_velinstead of missing it until a later limit message is published.