fixed typos + fixed bug in state node where bridge state wasn't updated

Author: david-gasinski

srunner/autoagents/autoware_agent.py

@@ -44,9 +44,9 @@ def setup(self, config: EnvironmentConfig | None = None) -> None:
 
         self._multi_thread_executor = rclpy.executors.MultiThreadedExecutor()
 
-        self._multi_thread_executor.add(self.route_node)
-        self._multi_thread_executor.add(self.state_node)
-        self._multi_thread_executor.add(self.autoware_node)
+        self._multi_thread_executor.add_node(self.route_node)
+        self._multi_thread_executor.add_node(self.state_node)
+        self._multi_thread_executor.add_node(self.autoware_node)
 
         self._executor_thread = threading.Thread(
             target=self._multi_thread_executor.spin, daemon=True

srunner/autoagents/autoware_nodes/state_node.py

@@ -30,6 +30,7 @@ def __init__(self, autoware_state: autoware_state.AutowareState) -> None:
             self.localize_state_cb,
             10,
         )
+
         self.autoware_state_subscriber = self.create_subscription(
             BridgeState, self.bridge_state, self.bridge_state_cb, 10
         )
@@ -44,7 +45,7 @@ def bridge_state_cb(self, bridge_state_msg: BridgeState):
         Args:
             bridge_state_msg (BridgeState): bridge state boolean value
         """
-        self.bridge_state = bridge_state_msg.bridge_ready
+        self.autoware_state.bridge_ready = bridge_state_msg.bridge_ready
 
     def route_state_cb(self, route_state_msg: RouteState) -> None:
         """Set the AutowareState attribute route_state