From 879a837e7524762d0c4fe700b9a0138e2a18d4bd Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Fri, 30 Jun 2023 21:14:17 +0900 Subject: [PATCH] fix(lane_change): fix visualization when path is invalid (#4132) Signed-off-by: Zulfaqar Azmi --- .../src/scene_module/lane_change/interface.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp index 721c7fa6fd390..2c1ba45c3ef84 100644 --- a/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp +++ b/planning/behavior_path_planner/src/scene_module/lane_change/interface.cpp @@ -232,6 +232,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() module_type_->setPreviousModulePaths( getPreviousModuleOutput().reference_path, getPreviousModuleOutput().path); module_type_->updateLaneChangeStatus(); + setObjectDebugVisualization(); // change turn signal when the vehicle reaches at the end of the path for waiting lane change out.turn_signal_info = getCurrentTurnSignalInfo(*out.path, out.turn_signal_info); @@ -249,8 +250,6 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() candidate.start_distance_to_path_change, candidate.finish_distance_to_path_change); is_abort_path_approved_ = false; - setObjectDebugVisualization(); - return out; }