fix(goal_planner): fix prevent auto approval for unsafe path #5621 (#5636)

kosuke55 · web-flow · commit 8e209a146357 · 2023-11-21T13:42:00.000+09:00
Signed-off-by: kosuke55 &lt;kosuke.tnp@gmail.com&gt;
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -864,7 +864,7 @@ bool GoalPlannerModule::hasDecidedPath() const
 
   // If it is dangerous before approval, do not determine the path.
   // This eliminates a unsafe path to be approved
-  if (!isSafePath() && !isActivated()) {
+  if (parameters_->safety_check_params.enable_safety_check && !isSafePath() && !isActivated()) {
     return false;
   }
 

Original file line number	Diff line number	Diff line change
`@@ -864,7 +864,7 @@ bool GoalPlannerModule::hasDecidedPath() const`
`864`	`864`
`865`	`865`	`// If it is dangerous before approval, do not determine the path.`
`866`	`866`	`// This eliminates a unsafe path to be approved`
`867`		`- if (!isSafePath() && !isActivated()) {`
	`867`	`+ if (parameters_->safety_check_params.enable_safety_check && !isSafePath() && !isActivated()) {`
`868`	`868`	`return false;`
`869`	`869`	`}`
`870`	`870`