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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Sep 5, 2023 · 5b656dc · 5b656dc
1 parent b4fa5b9
commit 5b656dc
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/planning/behavior_path_planner/src/utils/goal_planner/util.cpp b/planning/behavior_path_planner/src/utils/goal_planner/util.cpp
@@ -62,6 +62,7 @@ lanelet::ConstLanelets getPullOverLanes(
   const Pose goal_pose = route_handler.getOriginalGoalPose();
 
   // Buffer to get enough lanes in front of the goal, need much longer than the pull over distance.
+  // In the case of loop lanes, it may not be possible to extend the lane forward.
   // todo(kosuek55): automatically calculates this distance.
   const double backward_distance_with_buffer = backward_distance + 100;