From 13a6ff2084a9087d8ed787bf119b165a3f755493 Mon Sep 17 00:00:00 2001
From: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
Date: Tue, 11 Jul 2023 14:08:30 +0300
Subject: [PATCH] fix(obstacle_avoidance_planner): fixing wrong code logic
 porting from original PR

Signed-off-by: AhmedEbrahim <ahmed.a.d.ebrahim@gmail.com>
---
 planning/obstacle_avoidance_planner/src/node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
index 51f0dfd0d8dcb..398929e15aad4 100644
--- a/planning/obstacle_avoidance_planner/src/node.cpp
+++ b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -446,9 +446,9 @@ void ObstacleAvoidancePlanner::insertZeroVelocityOutsideDrivableArea(
   }();
 
   if (first_outside_idx) {
+    debug_data_ptr_->stop_pose_by_drivable_area = optimized_traj_points.at(*first_outside_idx).pose;
     for (size_t i = *first_outside_idx; i < optimized_traj_points.size(); ++i) {
       optimized_traj_points.at(i).longitudinal_velocity_mps = 0.0;
-      debug_data_ptr_->stop_pose_by_drivable_area = optimized_traj_points.at(i).pose;
     }
   }