Merge pull request #1265 from tier4/fix/lane_change_disable

Owen-Liuyuxuan · web-flow · commit 637a5cb217ee · 2024-04-19T15:47:31.000+09:00
revert(lane_change): disable terminal path (autowarefoundation#6800)
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -136,8 +136,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
 {
   *prev_approved_path_ = getPreviousModuleOutput().path;
 
-  BehaviorModuleOutput out;
-  out = module_type_->getTerminalLaneChangePath();
+  BehaviorModuleOutput out = getPreviousModuleOutput();
   module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path);
   out.turn_signal_info =
     getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info);

Original file line number	Diff line number	Diff line change
`@@ -136,8 +136,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()`
`136`	`136`	`{`
`137`	`137`	`*prev_approved_path_ = getPreviousModuleOutput().path;`
`138`	`138`
`139`		`- BehaviorModuleOutput out;`
`140`		`- out = module_type_->getTerminalLaneChangePath();`
	`139`	`+ BehaviorModuleOutput out = getPreviousModuleOutput();`
`141`	`140`	`module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path);`
`142`	`141`	`out.turn_signal_info =`
`143`	`142`	`getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info);`