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fix(goal_planner): fix publishing new modified goal #4302

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merged 2 commits into from
Jul 18, 2023
Merged

fix(goal_planner): fix publishing new modified goal #4302

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bfb2f00
fix(goal_planner): fix publishing new modified goal
kosuke55 Jul 17, 2023
7c35ac0
style(pre-commit): autofix
pre-commit-ci[bot] Jul 17, 2023
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1 change: 0 additions & 1 deletion ...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,7 +128,6 @@ class GoalPlannerModule : public SceneModuleInterface
// goal searcher
std::shared_ptr<GoalSearcherBase> goal_searcher_;
std::optional<GoalCandidate> modified_goal_pose_;
std::optional<size_t> prev_goal_id_;
Pose refined_goal_pose_;
GoalCandidates goal_candidates_;

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5 changes: 3 additions & 2 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Expand Up @@ -575,8 +575,9 @@ void BehaviorPathPlannerNode::run()
if (
output.modified_goal &&
/* has changed modified goal */ (
!planner_data_->prev_modified_goal ||
planner_data_->prev_modified_goal->uuid != output.modified_goal->uuid)) {
!planner_data_->prev_modified_goal || tier4_autoware_utils::calcDistance2d(
planner_data_->prev_modified_goal->pose.position,
output.modified_goal->pose.position) > 0.01)) {
PoseWithUuidStamped modified_goal = *(output.modified_goal);
modified_goal.header.stamp = path->header.stamp;
planner_data_->prev_modified_goal = modified_goal;
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2 changes: 0 additions & 2 deletions planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
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Expand Up @@ -122,7 +122,6 @@ void GoalPlannerModule::resetStatus()
pull_over_path_candidates_.clear();
closest_start_pose_.reset();
goal_candidates_.clear();
prev_goal_id_.reset();
}

// This function is needed for waiting for planner_data_
Expand Down Expand Up @@ -621,7 +620,6 @@ void GoalPlannerModule::setOutput(BehaviorModuleOutput & output)
setDrivableAreaInfo(output);

setModifiedGoal(output);
prev_goal_id_ = modified_goal_pose_->id;

// set hazard and turn signal
if (status_.has_decided_path) {
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