From b3c8cd9e6e819872528a5b788e178adee5bd4ada Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Fri, 15 Dec 2023 17:52:13 +0900 Subject: [PATCH] fix(goal_planner): set rederence path for candidate path Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index 6f1b1e7f41571..b50387b3f6b0e 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -943,6 +943,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate() const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(); output.modified_goal = pull_over_output.modified_goal; output.path = std::make_shared(generateStopPath()); + output.reference_path = getPreviousModuleOutput().reference_path; const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( *output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters);