From 6c733629737b2ebb520a6ffa86b446b1131f627d Mon Sep 17 00:00:00 2001 From: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Date: Fri, 2 Sep 2022 18:40:04 +0900 Subject: [PATCH] fix(behavior_velocity): fix insertVelocity (autowarefoundation#1768) (#102) fix(behavior_velocity): fix insertVelocity (#1768) Signed-off-by: tanaka3 Signed-off-by: tanaka3 Signed-off-by: tanaka3 --- planning/behavior_velocity_planner/src/utilization/util.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/planning/behavior_velocity_planner/src/utilization/util.cpp b/planning/behavior_velocity_planner/src/utilization/util.cpp index 5499d4bf12d75..6f688850bd05d 100644 --- a/planning/behavior_velocity_planner/src/utilization/util.cpp +++ b/planning/behavior_velocity_planner/src/utilization/util.cpp @@ -217,7 +217,7 @@ void insertVelocity( if ( tier4_autoware_utils::calcDistance2d(path.points.at(static_cast(i)), path_point) < min_distance) { - path.points.at(i).point.longitudinal_velocity_mps = 0; + path.points.at(i).point.longitudinal_velocity_mps = v; already_has_path_point = true; insert_index = static_cast(i); // set velocity from is going to insert min velocity later