fix(behavior_path_planner): reset previou modified goal (autowarefoun…

…dation#5785) Signed-off-by: kosuke55 <[email protected]> Signed-off-by: karishma <[email protected]>
Interplai · Dec 19, 2023 · 0737d4e · 0737d4e
1 parent 097dcd2
commit 0737d4e
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -408,7 +408,9 @@ void BehaviorPathPlannerNode::run()
     // Reset behavior tree when new route is received,
     // so that the each modules do not have to care about the "route jump".
     if (!is_first_time && !has_same_route_id) {
+      RCLCPP_INFO(get_logger(), "New uuid route is received. Resetting modules.");
       planner_manager_->reset();
+      planner_data_->prev_modified_goal.reset();
     }
   }