fix invalid doesn't have stop point

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
saka1-s · Aug 15, 2024 · c5fc049 · c5fc049
1 parent 34aa590
commit c5fc049
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -301,6 +301,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
   if (!status_.is_valid_path) {
     RCLCPP_DEBUG(logger_, "No valid path found. Returning previous module's path as output.");
+    insertStopPoint(get_current_lanes(), prev_module_output_.path);
     return prev_module_output_;
   }