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sim_control cannot reset localization if restart #14563

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sim_control cannot reset localization if restart #14563

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5 changes: 3 additions & 2 deletions modules/dreamview/backend/sim_control/sim_control.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -120,7 +120,9 @@ void SimControl::InitStartPoint(double start_velocity,
// Use the latest localization position as start point,
// fall back to a dummy point from map
localization_reader_->Observe();
if (localization_reader_->Empty()) {
const auto& localization = localization_reader_->GetLatestObserved();
if (localization == nullptr ||
localization->header().module_name() == "SimControl") {
start_point_from_localization_ = false;
apollo::common::PointENU start_point;
if (!map_service_->GetStartPoint(&start_point)) {
Expand All @@ -139,7 +141,6 @@ void SimControl::InitStartPoint(double start_velocity,
point.set_a(start_acceleration);
} else {
start_point_from_localization_ = true;
const auto& localization = localization_reader_->GetLatestObserved();
const auto& pose = localization->pose();
point.mutable_path_point()->set_x(pose.position().x());
point.mutable_path_point()->set_y(pose.position().y());
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