tmp(lane_change): remove lateral check

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
autowarefoundation · Aug 10, 2023 · e2a465c · e2a465c
1 parent a5a147b
commit e2a465c
Showing 1 changed file with 6 additions and 6 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp b/planning/behavior_path_planner/src/scene_module/lane_change/normal.cpp
@@ -386,12 +386,12 @@ bool NormalLaneChange::hasFinishedLaneChange() const
     return false;
   }
 
-  const auto arc_length = lanelet::utils::getArcCoordinates(status_.target_lanes, current_pose);
-  const auto reach_target_lane =
-    std::abs(arc_length.distance) < lane_change_parameters_->finish_judge_lateral_threshold;
-  if (!reach_target_lane) {
-    return false;
-  }
+  // const auto arc_length = lanelet::utils::getArcCoordinates(status_.target_lanes, current_pose);
+  // const auto reach_target_lane =
+  //   std::abs(arc_length.distance) < lane_change_parameters_->finish_judge_lateral_threshold;
+  // if (!reach_target_lane) {
+  //   return false;
+  // }
 
   return true;
 }