Fix pull-out path planning bug in

StartPlannerModule.cpp Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Nov 16, 2023 · 77bc639 · 77bc639
1 parent 212bf46
commit 77bc639
Showing 1 changed file with 3 additions and 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
@@ -136,9 +136,11 @@ void StartPlannerModule::updateData()
   // TODO(Sugahara): this member variable should be updated when the path is updated
   last_pull_out_start_update_time_ = std::make_unique<rclcpp::Time>(clock_->now());
 
-  if (time_has_passed_from_last_path_update && status_.found_pull_out_path) {
+  if (time_has_passed_from_last_path_update && !status_.found_pull_out_path) {
     planPathFromStartPose();
   }
+  behavior_path_planner::utils::start_goal_planner_common::logPullOutStatus(
+    status_, getLogger(), rclcpp::Logger::Level::Error);
 }
 
 void StartPlannerModule::planPathFromStartPose()