From 202fd9884ff1c045061779ba948c95c3bfe067dd Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Wed, 13 Apr 2022 21:58:21 +0900 Subject: [PATCH] fix(behavior_velocity_planner): ignore pass judge when external_stop is true (#691) Signed-off-by: tomoya.kimura --- .../src/scene_module/intersection/scene_intersection.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp index 9e2e86ccfe421..4395302d9092a 100644 --- a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp +++ b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp @@ -123,8 +123,8 @@ bool IntersectionModule::modifyPathVelocity( return false; } - if (stop_line_idx <= 0 || pass_judge_line_idx <= 0) { - RCLCPP_DEBUG(logger_, "stop line or pass judge line is at path[0], ignore planning."); + if (stop_line_idx <= 0) { + RCLCPP_DEBUG(logger_, "stop line line is at path[0], ignore planning."); RCLCPP_DEBUG(logger_, "===== plan end ====="); return true; }