From c80eddc26daf25d975dd294c5cb428d42ed7e600 Mon Sep 17 00:00:00 2001
From: Go Sakayori <go-sakayori@users.noreply.github.com>
Date: Mon, 26 Aug 2024 15:05:12 +0900
Subject: [PATCH] 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>
---
 .../src/interface.cpp                                       | 6 ++++++
 1 file changed, 6 insertions(+)

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
index a7cf89193b37f..979004d439bdc 100644
--- 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;
   }