From e3d4e759f8e6a775ef4a956f9806dbf1fd3a0c75 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 18 Jan 2024 11:10:42 +0900 Subject: [PATCH] refactor(goal_planner): remove duplicated execution condition (#6087) Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 7 ------- 1 file changed, 7 deletions(-) diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp index 3f765c99cffa9..a13344ee87e7c 100644 --- a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -458,13 +458,6 @@ bool GoalPlannerModule::isExecutionRequested() const return false; } - // if goal modification is not allowed - // 1) goal_pose is in current_lanes, plan path to the original fixed goal - // 2) goal_pose is NOT in current_lanes, do not execute goal_planner - if (!utils::isAllowedGoalModification(route_handler)) { - return goal_is_in_current_lanes; - } - // if (A) or (B) is met execute pull over // (A) target lane is `road` and same to the current lanes // (B) target lane is `road_shoulder` and neighboring to the current lanes