From 36cd8fe052b9d15b791a02681aa4fb96e731ceaa Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 1 Aug 2023 11:18:18 +0900
Subject: [PATCH] fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
index cd0f3b8c7f074..df396b987da58 100644
--- a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
+++ b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -148,6 +148,7 @@ class CrosswalkModule : public SceneModuleInterface
             ego_pass_first_additional_margin <
           collision_point->time_to_vehicle) {
           collision_state = CollisionState::EGO_PASS_FIRST;
+          return;
         }
         // Check if ego will pass later
         const double ego_pass_later_additional_margin =
@@ -159,8 +160,10 @@ class CrosswalkModule : public SceneModuleInterface
             ego_pass_later_additional_margin <
           collision_point->time_to_collision) {
           collision_state = CollisionState::EGO_PASS_LATER;
+          return;
         }
         collision_state = CollisionState::YIELD;
+        return;
       }
     }
   };