feat(behavior_velocity_planner): output stop reason of traffic light …

…whenever a stop point is inserted (autowarefoundation#2323) Signed-off-by: tomoya.kimura <[email protected]> Signed-off-by: tomoya.kimura <[email protected]> Signed-off-by: yoshiri <[email protected]>
YoshiRi · Jan 11, 2023 · 3e9ca5a · 3e9ca5a
1 parent 3d1826b
commit 3e9ca5a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
@@ -489,8 +489,9 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP
   if (debug_data_.highest_confidence_traffic_light_point != std::nullopt) {
     stop_factor.stop_factor_points = std::vector<geometry_msgs::msg::Point>{
       debug_data_.highest_confidence_traffic_light_point.value()};
-    planning_utils::appendStopReason(stop_factor, stop_reason);
   }
+  planning_utils::appendStopReason(stop_factor, stop_reason);
+
   return modified_path;
 }