feat(goal_planner): do not insert shift end pose on pull over lane to…

… path Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Nov 20, 2024 · e6a8d36 · e6a8d36
1 parent 3a1ae3b
commit e6a8d36
Showing 1 changed file with 0 additions and 3 deletions.
diff --git a/...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
@@ -206,9 +206,6 @@ std::optional<PullOverPath> ShiftPullOver::generatePullOverPath(
   shifted_path.path.points = autoware::motion_utils::removeOverlapPoints(shifted_path.path.points);
   autoware::motion_utils::insertOrientation(shifted_path.path.points, true);
 
-  // set same orientation, because the reference center line orientation is not same to the
-  shifted_path.path.points.back().point.pose.orientation = shift_end_pose.orientation;
-
   // for debug. result of shift is not equal to the target
   const Pose actual_shift_end_pose = shifted_path.path.points.back().point.pose;