fix(lane_change): approval chatters when no valid paths (autowarefoundation#6516)

zulfaqar-azmi-t4 · zulfaqar-azmi-t4 · commit 51cbbf5d674b · 2024-03-05T23:20:23.000+09:00
Signed-off-by: Muhammad Zulfaqar Azmi &lt;zulfaqar.azmi@tier4.jp&gt;
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -201,11 +201,6 @@ bool LaneChangeInterface::canTransitSuccessState()
     }
   }
 
-  if (!module_type_->isValidPath()) {
-    log_debug_throttled("Has no valid path.");
-    return true;
-  }
-
   if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has completed.");
     return true;

Original file line number	Diff line number	Diff line change
`@@ -201,11 +201,6 @@ bool LaneChangeInterface::canTransitSuccessState()`
`201`	`201`	`}`
`202`	`202`	`}`
`203`	`203`
`204`		`- if (!module_type_->isValidPath()) {`
`205`		`- log_debug_throttled("Has no valid path.");`
`206`		`- return true;`
`207`		`- }`
`208`		`-`
`209`	`204`	`if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {`
`210`	`205`	`log_debug_throttled("Abort process has completed.");`
`211`	`206`	`return true;`