Commit 57cf88d 1 parent ccd852b commit 57cf88d Copy full SHA for 57cf88d
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-6
lines changed
behavior_path_planner_common/src/utils/drivable_area_expansion
behavior_path_start_planner_module
include/behavior_path_start_planner_module
3 files changed +6
-6
lines changed Original file line number Diff line number Diff line change @@ -1884,6 +1884,10 @@ DrivableAreaInfo combineDrivableAreaInfo(
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drivable_area_info1.enable_expanding_intersection_areas ||
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drivable_area_info2.enable_expanding_intersection_areas ;
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+ // drivable margin
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+ combined_drivable_area_info.drivable_margin =
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+ std::max (drivable_area_info1.drivable_margin , drivable_area_info2.drivable_margin );
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+
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return combined_drivable_area_info;
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}
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Original file line number Diff line number Diff line change @@ -139,7 +139,7 @@ class StartPlannerModule : public SceneModuleInterface
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bool canTransitFailureState () override { return false ; }
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- bool canTransitIdleToRunningState () override ;
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+ bool canTransitIdleToRunningState () override { return true ; }
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/* *
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* @brief init member variables.
Original file line number Diff line number Diff line change @@ -347,11 +347,6 @@ bool StartPlannerModule::canTransitSuccessState()
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return hasFinishedPullOut ();
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}
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- bool StartPlannerModule::canTransitIdleToRunningState ()
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- {
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- return isActivated () && !isWaitingApproval ();
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- }
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-
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BehaviorModuleOutput StartPlannerModule::plan ()
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{
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if (isWaitingApproval ()) {
@@ -1317,6 +1312,7 @@ bool StartPlannerModule::planFreespacePath()
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void StartPlannerModule::setDrivableAreaInfo (BehaviorModuleOutput & output) const
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{
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if (status_.planner_type == PlannerType::FREESPACE) {
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+ std::cerr << " Freespace planner updated drivable area." << std::endl;
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const double drivable_area_margin = planner_data_->parameters .vehicle_width ;
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output.drivable_area_info .drivable_margin =
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planner_data_->parameters .vehicle_width / 2.0 + drivable_area_margin;
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