From 76bf012f2ee3c0c5ea7bd1236ba5c802767e7c36 Mon Sep 17 00:00:00 2001
From: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Date: Thu, 16 Nov 2023 18:03:33 +0900
Subject: [PATCH] Add path index incrementation after backward driving
 completion

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../src/scene_module/start_planner/start_planner_module.cpp     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
index bbf44ab836d37..12563627578cc 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -720,7 +720,6 @@ void StartPlannerModule::updatePullOutStatus()
 
   if (isBackwardDrivingComplete()) {
     updateStatusAfterBackwardDriving();
-    // should be moved to transition state
   } else {
     status_.backward_path = start_planner_utils::getBackwardPath(
       *route_handler, pull_out_lanes, current_pose, status_.pull_out_start_pose,
@@ -732,6 +731,7 @@ void StartPlannerModule::updateStatusAfterBackwardDriving()
 {
   status_.driving_forward = true;
   status_.backward_driving_complete = true;
+  incrementPathIndex();
   // request start_planner approval
   waitApproval();
   // To enable approval of the forward path, the RTC status is removed.