fix(lane_change): update rtc status for some failure condition (#8604)

update rtc status for some failure condition Signed-off-by: Go Sakayori <gsakayori@gmail.com>
autowarefoundation · Aug 26, 2024 · c80eddc · c80eddc
1 parent f021d06
commit c80eddc
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -258,11 +258,17 @@ bool LaneChangeInterface::canTransitFailureState()
 
   if (!module_type_->isValidPath()) {
     log_debug_throttled("Transit to failure state due not to find valid path");
+    updateRTCStatus(
+      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
+      State::FAILED);
     return true;
   }
 
   if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has completed.");
+    updateRTCStatus(
+      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
+      State::FAILED);
     return true;
   }