fix(behavior_path_planner): resample path in the route (autowarefound…

…ation#3179) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
ktro2828 · Apr 7, 2023 · 0b039e1 · 0b039e1
1 parent 261bca1
commit 0b039e1
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp
@@ -1979,7 +1979,7 @@ PathWithLaneId getCenterLinePath(
     route_handler.getCenterLinePath(lanelet_sequence, s_backward, s_forward, true);
   const auto resampled_path_with_lane_id = motion_utils::resamplePath(
     raw_path_with_lane_id, parameter.input_path_interval, parameter.enable_akima_spline_first);
-  return raw_path_with_lane_id;
+  return resampled_path_with_lane_id;
 }
 
 // for lane following