From f3bc09c678c8ba50e95b7dbacdb562bf1252ca86 Mon Sep 17 00:00:00 2001
From: Fumiya Watanabe <rej55.g@gmail.com>
Date: Thu, 4 Aug 2022 19:55:55 +0900
Subject: [PATCH] fix(behavior_path_planner): fix turn signal logic in
 intersection (#1519)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
---
 planning/behavior_path_planner/src/turn_signal_decider.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp
index 7b1fa47823e64..0c32fed8d5d87 100644
--- a/planning/behavior_path_planner/src/turn_signal_decider.cpp
+++ b/planning/behavior_path_planner/src/turn_signal_decider.cpp
@@ -98,14 +98,14 @@ std::pair<TurnIndicatorsCommand, double> TurnSignalDecider::getIntersectionTurnS
           turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
         } else if (lane_attribute == std::string("right")) {
           turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
-        } else {
-          // when lane_attribute is straight, return the turn signal with max distance
-          return std::make_pair(turn_signal, std::numeric_limits<double>::max());
         }
         distance = distance_from_vehicle_front;
       }
     }
   }
+  if (turn_signal.command == TurnIndicatorsCommand::NO_COMMAND) {
+    distance = std::numeric_limits<double>::max();
+  }
   return std::make_pair(turn_signal, distance);
 }
 }  // namespace behavior_path_planner