#2218 Switch twist source for Detections

The external object to detection conversion function was using velocity_inst instead of velocity. The former has twist values but not the corresponding covariance matrixes.
usdot-fhwa-stol · Dec 15, 2023 · 54efb55 · 54efb55
1 parent a3d27f6
commit 54efb55
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/carma_cooperative_perception/src/msg_conversion.cpp b/carma_cooperative_perception/src/msg_conversion.cpp
@@ -314,8 +314,8 @@ auto to_detection_msg(
     detection.pose = object.pose;
   }
 
-  if (object.presence_vector & object.VELOCITY_INST_PRESENCE_VECTOR) {
-    detection.twist = object.velocity_inst;
+  if (object.presence_vector & object.VELOCITY_PRESENCE_VECTOR) {
+    detection.twist = object.velocity;
   }
 
   if (object.presence_vector & object.OBJECT_TYPE_PRESENCE_VECTOR) {