From 77bc6393dd906048aad7a4a8bd9f7642a72fbc7d Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 17 Nov 2023 00:25:24 +0900 Subject: [PATCH] Fix pull-out path planning bug in StartPlannerModule.cpp Signed-off-by: kyoichi-sugahara --- .../src/scene_module/start_planner/start_planner_module.cpp | 4 +++- 1 file changed, 3 insertions(+), 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 ce33aa7f99462..c7c5926718f70 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 @@ -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(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()