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feat(behavior_path_planner): change turn signal output timing #2493

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merged 1 commit into from
Dec 13, 2022
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feat(behavior_path_planner): change turn signal output timing #2493

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36 changes: 19 additions & 17 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -627,23 +627,6 @@ void BehaviorPathPlannerNode::run()

// update planner data
planner_data_->prev_output_path = path;
mutex_pd_.unlock();

// publish drivable bounds
publish_bounds(*path);

const size_t target_idx = findEgoIndex(path->points);
util::clipPathLength(*path, target_idx, planner_data_->parameters);

if (!path->points.empty()) {
path_publisher_->publish(*path);
} else {
RCLCPP_ERROR_THROTTLE(
get_logger(), *get_clock(), 5000, "behavior path output is empty! Stop publish.");
}

const auto path_candidate = getPathCandidate(output, planner_data);
path_candidate_publisher_->publish(util::toPath(*path_candidate));

// for turn signal
{
Expand All @@ -665,6 +648,25 @@ void BehaviorPathPlannerNode::run()
publish_steering_factor(turn_signal);
}

// unlock planner data
mutex_pd_.unlock();

// publish drivable bounds
publish_bounds(*path);

const size_t target_idx = findEgoIndex(path->points);
util::clipPathLength(*path, target_idx, planner_data_->parameters);

if (!path->points.empty()) {
path_publisher_->publish(*path);
} else {
RCLCPP_ERROR_THROTTLE(
get_logger(), *get_clock(), 5000, "behavior path output is empty! Stop publish.");
}

const auto path_candidate = getPathCandidate(output, planner_data);
path_candidate_publisher_->publish(util::toPath(*path_candidate));

publishSceneModuleDebugMsg();

if (planner_data->parameters.visualize_drivable_area_for_shared_linestrings_lanelet) {
Expand Down