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[pull] main from autowarefoundation:main #227

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merged 2 commits into from
Jun 12, 2023
Merged

[pull] main from autowarefoundation:main #227

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90b9f07
chore(behavior_velocity_speed_bump_module): add maintainer (#3949)
mehmetdogru Jun 12, 2023
07f8de7
fix(behavior_path_planner): fix offset calculation for turn signal in…
tkimura4 Jun 12, 2023
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9 changes: 8 additions & 1 deletion planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -796,7 +796,14 @@ TurnSignalInfo StartPlannerModule::calcTurnSignalInfo() const
// pull out path does not overlap
const double distance_from_end =
motion_utils::calcSignedArcLength(path.points, end_pose.position, current_pose.position);
const double lateral_offset = inverseTransformPoint(end_pose.position, start_pose).y;

if (path.points.empty()) {
return {};
}
const auto closest_idx = motion_utils::findNearestIndex(path.points, start_pose.position);
const auto lane_id = path.points.at(closest_idx).lane_ids.front();
const auto lane = planner_data_->route_handler->getLaneletMapPtr()->laneletLayer.get(lane_id);
const double lateral_offset = lanelet::utils::getLateralDistanceToCenterline(lane, start_pose);

if (distance_from_end < 0.0 && lateral_offset > parameters_->th_blinker_on_lateral_offset) {
turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
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1 change: 1 addition & 0 deletions planning/behavior_velocity_speed_bump_module/package.xml
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Expand Up @@ -7,6 +7,7 @@

<maintainer email="[email protected]">Tomoya Kimura</maintainer>
<maintainer email="[email protected]">Shumpei Wakabayashi</maintainer>
<maintainer email="[email protected]">Mehmet Dogru</maintainer>

<license>Apache License 2.0</license>

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