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fix(goal_planner_module): adjust object filtering to consider velocity threshold #1736

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Dec 25, 2024
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fix(goal_planner_module): adjust object filtering to consider velocity threshold #1736

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2 changes: 1 addition & 1 deletion ...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -853,7 +853,7 @@

bool GoalPlannerModule::isExecutionReady() const
{
// NOTE(soblin): at least in goal_planner, isExecutionReady is called via super::updateRTCStatus

Check warning on line 856 in planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp

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GitHub Actions / spell-check-differential 

Unknown word (soblin)
// from self::postProcess, so returning cached member variable like
// path_decision_controller.get_current_state() is valid
if (parameters_->safety_check_params.enable_safety_check && isWaitingApproval()) {
Expand Down Expand Up @@ -1446,7 +1446,7 @@
}

/**
NOTE(soblin): this path originates from the previously selected(by main thread) pull_over_path

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Unknown word (soblin)
which was originally generated by either road_parking or freespace thread
*/
auto pull_over_path_with_velocity_opt = context_data.pull_over_path_opt;
Expand Down Expand Up @@ -2225,7 +2225,7 @@
const auto & target_object_types = params->object_types_to_check;

PredictedObjects filtered_objects = utils::path_safety_checker::filterObjectsByVelocity(
*objects, ignore_object_velocity_threshold, true);
*objects, ignore_object_velocity_threshold, false);

utils::path_safety_checker::filterObjectsByClass(filtered_objects, target_object_types);

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