fix(behavior_velocity_planner::intersection): only zero hold velocity (…

…autowarefoundation#3327) only zero hold velocity Signed-off-by: Mamoru Sobue <[email protected]>
mkuri · Apr 12, 2023 · 8447465 · 8447465
1 parent ff52326
commit 8447465
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp
@@ -58,7 +58,8 @@ std::optional<size_t> insertPoint(
   } else {
     // copy with velocity from prior point
     const size_t prior_ind = closest_idx > 0 ? closest_idx - 1 : 0;
-    inserted_point = inout_path->points.at(prior_ind);
+    inserted_point.point.longitudinal_velocity_mps =
+      inout_path->points.at(prior_ind).point.longitudinal_velocity_mps;
   }
   inserted_point.point.pose = in_pose;