From 0b039e137adad3fde5b944c28390ebffd40e76b1 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 28 Mar 2023 22:54:50 +0900 Subject: [PATCH] fix(behavior_path_planner): resample path in the route (#3179) Signed-off-by: Takayuki Murooka --- planning/behavior_path_planner/src/utilities.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp index 2547a0e1cd681..76218a925c91d 100644 --- 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