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fix(lane_change): transit failure if previous module path empty
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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planning/behavior_path_lane_change_module/src/interface.cpp

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@@ -225,6 +225,10 @@ bool LaneChangeInterface::canTransitFailureState()
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updateDebugMarker();
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log_debug_throttled(__func__);
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if(getPreviousModuleOutput().path.points.empty()){
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return true;
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}
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if (module_type_->isAbortState() && !module_type_->hasFinishedAbort()) {
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log_debug_throttled("Abort process has on going.");
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return false;

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