fix(start_planner): not finish start planner when the path is not safe (#4401)

kosuke55 · web-flow · commit 66e0e139ac78 · 2023-07-26T16:53:02.000Z
Signed-off-by: kosuke55 &lt;kosuke.tnp@gmail.com&gt;
diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -681,7 +681,7 @@ bool StartPlannerModule::isOverlappedWithLane(
 
 bool StartPlannerModule::hasFinishedPullOut() const
 {
-  if (!status_.back_finished) {
+  if (!status_.back_finished || !status_.is_safe) {
     return false;
   }
 

Original file line number	Diff line number	Diff line change
`@@ -681,7 +681,7 @@ bool StartPlannerModule::isOverlappedWithLane(`
`681`	`681`
`682`	`682`	`bool StartPlannerModule::hasFinishedPullOut() const`
`683`	`683`	`{`
`684`		`- if (!status_.back_finished) {`
	`684`	`+ if (!status_.back_finished \|\| !status_.is_safe) {`
`685`	`685`	`return false;`
`686`	`686`	`}`
`687`	`687`