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Fix control cycle delay in velocity_set

Yuma Nihei requested to merge tier4-logi/autoware/core_planning:fix/velocity_set/topic_rate into master

Fixed bug

Fix control cycle delay in velocity_set.

Description of the bug

Because the sending and receiving nodes of the topic have their own loop at about the same 10Hz, there is a moment that is delayed by more than 0.2 seconds at a certain timing.

Additional information

Take the following measures.

  • In order to reduce the processing time in the main loop, the method of calling back in the main loop is abolished, and basically the callback is always possible.
  • Increase the speed of main processing from 10Hz to 50Hz. (Actually, it runs at almost 10Hz because the main processing runs after receiving all input topics.)

Also, due to implementation problems, internal processing is classed.

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