From 3ffe132b444bfd8eaea8e62b6890e2dd4b4a3349 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 10 Jan 2024 14:10:43 +0900 Subject: [PATCH] fix(start_planner): don't update start pose when backward driving is finished (#5998) Fix conditional check in updatePullOutStatus function Signed-off-by: kyoichi-sugahara --- .../src/start_planner_module.cpp | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp index 9870a324caf64..66e04d7e9bb7a 100644 --- a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp +++ b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp @@ -839,8 +839,10 @@ void StartPlannerModule::updatePullOutStatus() return {*refined_start_pose}; }); - planWithPriority( - start_pose_candidates, *refined_start_pose, goal_pose, parameters_->search_priority); + if (!status_.backward_driving_complete) { + planWithPriority( + start_pose_candidates, *refined_start_pose, goal_pose, parameters_->search_priority); + } start_planner_data_.refined_start_pose = *refined_start_pose; start_planner_data_.start_pose_candidates = start_pose_candidates;