fix(goal_planner): fix prevent auto approval for unsafe path #5621 (#…

…5636) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Nov 21, 2023 · 8e209a1 · 8e209a1
1 parent 88c1e72
commit 8e209a1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -864,7 +864,7 @@ bool GoalPlannerModule::hasDecidedPath() const
 
   // If it is dangerous before approval, do not determine the path.
   // This eliminates a unsafe path to be approved
-  if (!isSafePath() && !isActivated()) {
+  if (parameters_->safety_check_params.enable_safety_check && !isSafePath() && !isActivated()) {
     return false;
   }