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feat(behavior_velocity_planner): improve pull over and pull out module #251

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merged 2 commits into from
Jan 19, 2023

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tkimura4
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@tkimura4 tkimura4 commented Jan 19, 2023

Description

Hotfix to beta/v0.7.0

autowarefoundation#2678

When not found safe pull out path, empty path is returned in plan().
In this PR, return stop_path.
Even if it is an empty path, it keeps stopping, so there is no change in the actual behavior.

autowarefoundation#2692

Fix autowarefoundation#2675
We need to check all pull_out lanes length, not just the end lane length

Related links

autowarefoundation#2678
autowarefoundation#2692

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@kosuke55 kosuke55 left a comment

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thank you very much!

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@1222-takeshi 1222-takeshi left a comment

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LGTM

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codecov-commenter commented Jan 19, 2023

Codecov Report

❗ No coverage uploaded for pull request base (beta/v0.7.0@aab2b8b). Click here to learn what that means.
Patch has no changes to coverable lines.

Additional details and impacted files
@@              Coverage Diff              @@
##             beta/v0.7.0    #251   +/-   ##
=============================================
  Coverage               ?   3.07%           
=============================================
  Files                  ?      68           
  Lines                  ?    8028           
  Branches               ?    3852           
=============================================
  Hits                   ?     247           
  Misses                 ?    7569           
  Partials               ?     212           
Flag Coverage Δ
differential 3.07% <0.00%> (?)

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@kosuke55 kosuke55 merged commit a06b30d into beta/v0.7.0 Jan 19, 2023
@kosuke55 kosuke55 deleted the feat/hotfix/pull_over_pull_out_v0.7.0 branch January 19, 2023 06:50
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4 participants