Merge pull request autowarefoundation#354 from tier4/chore/cherry-pic…

…k/fix/intersection-point-insertion fix(behavior_velocity_planner::intersection): only zero hold velocity
mkuri · Apr 12, 2023 · a8f3371 · a8f3371
2 parents ff52326 + 8447465
commit a8f3371
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;