pub path candidate after approval

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Nov 14, 2023 · a035d57 · a035d57
1 parent ca1bc6c
commit a035d57
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -915,9 +915,6 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate()
     return output;
   }
 
-  path_candidate_ =
-    std::make_shared<PathWithLaneId>(thread_safe_data_.get_pull_over_path()->getFullPath());
-
   return output;
 }
 
@@ -955,6 +952,9 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput()
     return output;
   }
 
+  path_candidate_ =
+    std::make_shared<PathWithLaneId>(thread_safe_data_.get_pull_over_path()->getFullPath());
+
   updateStatus(output);
 
   return output;