fix(behavior_path_planner): candidate path header (#2536)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Dec 20, 2022 · fb4164f · fb4164f
1 parent 067a4ba
commit fb4164f
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -788,6 +788,9 @@ Path BehaviorPathPlannerNode::convertToPath(
   }
 
   output = util::toPath(*path_candidate_ptr);
+  // header is replaced by the input one, so it is substituted again
+  output.header = planner_data_->route_handler->getRouteHeader();
+  output.header.stamp = this->now();
 
   if (!is_ready) {
     for (auto & point : output.points) {