fix (start_planner): remove cut overlapped lanes

tier4 · Jul 20, 2023 · 1efe1c5 · 1efe1c5
1 parent de5888b
commit 1efe1c5
Showing 1 changed file with 0 additions and 7 deletions.
diff --git a/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp b/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp
@@ -112,13 +112,6 @@ boost::optional<PullOutPath> ShiftPullOut::plan(Pose start_pose, Pose goal_pose)
       continue;
     }
 
-    // Generate drivable area
-    // for old architecture
-    // NOTE: drivable_area_info is assigned outside this function.
-    const auto shorten_lanes = utils::cutOverlappedLanes(shift_path, drivable_lanes);
-    utils::generateDrivableArea(
-      shift_path, shorten_lanes, false, common_parameters.vehicle_length, planner_data_);
-
     shift_path.header = planner_data_->route_handler->getRouteHeader();
 
     return pull_out_path;