fix(lane_change): fix invalid doesn't have stop point (autowarefoundation#8470)

zulfaqar-azmi-t4 · xtk8532704 · commit 752c7c7d755f · 2024-08-15T21:51:24.000+09:00
fix invalid doesn't have stop point

Signed-off-by: Zulfaqar Azmi &lt;zulfaqar.azmi@tier4.jp&gt;
Signed-off-by: xtk8532704 &lt;1041084556@qq.com&gt;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -295,6 +295,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
   if (!status_.is_valid_path) {
     RCLCPP_DEBUG(logger_, "No valid path found. Returning previous module's path as output.");
+    insertStopPoint(get_current_lanes(), prev_module_output_.path);
     return prev_module_output_;
   }
 

Original file line number	Diff line number	Diff line change
`@@ -295,6 +295,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()`
`295`	`295`	`universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);`
`296`	`296`	`if (!status_.is_valid_path) {`
`297`	`297`	`RCLCPP_DEBUG(logger_, "No valid path found. Returning previous module's path as output.");`
	`298`	`+ insertStopPoint(get_current_lanes(), prev_module_output_.path);`
`298`	`299`	`return prev_module_output_;`
`299`	`300`	`}`
`300`	`301`