From e6a8d36519b0f36025ec2517b480ddc87ac0b2db Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Mon, 18 Nov 2024 18:45:24 +0900 Subject: [PATCH] feat(goal_planner): do not insert shift end pose on pull over lane to path Signed-off-by: kosuke55 --- .../src/pull_over_planner/shift_pull_over.cpp | 3 --- 1 file changed, 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp index f70dbbd9c1e50..c299957d16a66 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp @@ -206,9 +206,6 @@ std::optional 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;