From b31d608412ecb3087aae64e032da4195e74ad15e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 27 Jan 2025 12:50:35 +0900 Subject: [PATCH] revert stop path(2) Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 94664d5e13827..31e3dc89767be 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1479,6 +1479,11 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + // if pull over path candidates generation is not finished, use previous module output + if (context_data.lane_parking_response.pull_over_path_candidates.empty()) { + return getPreviousModuleOutput(); + } + BehaviorModuleOutput output{}; const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); output.modified_goal = pull_over_output.modified_goal;