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2 parents 89139f3 + 2f233b4 commit 2ea2390Copy full SHA for 2ea2390
planning/behavior_path_lane_change_module/src/interface.cpp
@@ -276,6 +276,11 @@ bool LaneChangeInterface::canTransitFailureState()
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return false;
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}
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+ if (!module_type_->isAbleToReturnCurrentLane()) {
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+ log_debug_throttled("It's is not possible to return to original lane. Continue lane change.");
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+ return false;
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+ }
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+
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const auto found_abort_path = module_type_->calcAbortPath();
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if (!found_abort_path) {
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log_debug_throttled(
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