fix(start_planner): start prepare blinker when autonomous mode is available

soblin · soblin · commit eb72adbb70a5 · 2024-02-21T16:55:28.000+09:00
Signed-off-by: Mamoru Sobue &lt;mamoru.sobue@tier4.jp&gt;
diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -176,7 +176,9 @@ void StartPlannerModule::updateData()
     DEBUG_PRINT("StartPlannerModule::updateData() received new route, reset status");
   }
 
-  if (!status_.first_approved_time && isActivated()) {
+  if (
+    planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&
+    !status_.first_approved_time && isActivated()) {
     status_.first_approved_time = clock_->now();
   }
 

Original file line number	Diff line number	Diff line change
`@@ -176,7 +176,9 @@ void StartPlannerModule::updateData()`
`176`	`176`	`DEBUG_PRINT("StartPlannerModule::updateData() received new route, reset status");`
`177`	`177`	`}`
`178`	`178`
`179`		`- if (!status_.first_approved_time && isActivated()) {`
	`179`	`+ if (`
	`180`	`+ planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&`
	`181`	`+ !status_.first_approved_time && isActivated()) {`
`180`	`182`	`status_.first_approved_time = clock_->now();`
`181`	`183`	`}`
`182`	`184`