feat(behavior_path_planner): disable safety check (#3633)

Signed-off-by: yutaka <[email protected]>
autowarefoundation · May 8, 2023 · a89b261 · a89b261
1 parent 52127f0
commit a89b261
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/utils/lane_change/utils.cpp b/planning/behavior_path_planner/src/utils/lane_change/utils.cpp
@@ -183,8 +183,13 @@ std::optional<LaneChangePath> constructCandidatePath(
     point.lane_ids = target_segment.points.at(*nearest_idx).lane_ids;
   }
 
+  // TODO(Yutaka Shimizu): remove this flag after make the isPathInLanelets faster
+  const bool enable_path_check_in_lanelet = false;
+
   // check candidate path is in lanelet
-  if (!isPathInLanelets(shifted_path.path, original_lanelets, target_lanelets)) {
+  if (
+    enable_path_check_in_lanelet &&
+    !isPathInLanelets(shifted_path.path, original_lanelets, target_lanelets)) {
     return std::nullopt;
   }