fix(behavior_path_planner): reset current route lanelet in manual dri…

…ve (autowarefoundation#7505) Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
tier4 · Jun 17, 2024 · 6398f9b · 6398f9b
1 parent a6b5f27
commit 6398f9b
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -417,7 +417,9 @@ void BehaviorPathPlannerNode::run()
   const auto controlled_by_autoware_autonomously =
     planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS &&
     planner_data_->operation_mode->is_autoware_control_enabled;
-  if (!controlled_by_autoware_autonomously && !planner_manager_->hasApprovedModules())
+  if (
+    !controlled_by_autoware_autonomously &&
+    !planner_manager_->hasNonAlwaysExecutableApprovedModules())
     planner_manager_->resetCurrentRouteLanelet(planner_data_);
 
   // run behavior planner