fix bug of right lane change

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · May 19, 2022 · 720ee74 · 720ee74
1 parent 221b7f7
commit 720ee74
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/obstacle_avoidance_planner/src/node.cpp b/planning/obstacle_avoidance_planner/src/node.cpp
@@ -82,7 +82,7 @@ bool isPathShapeChanged(
   // calculate lateral deviations between truncated path_points and prev_path_points
   for (const auto & prev_point : truncated_prev_points) {
     const double dist =
-      tier4_autoware_utils::calcLateralOffset(truncated_points, prev_point.pose.position);
+      std::abs(tier4_autoware_utils::calcLateralOffset(truncated_points, prev_point.pose.position));
     if (dist > max_path_shape_change_dist) {
       return true;
     }