fix(lane_change): transit failure if previous module path empty

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
autowarefoundation · May 30, 2024 · 15a2e25 · 15a2e25
1 parent 7bebb1a
commit 15a2e25
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -225,6 +225,10 @@ bool LaneChangeInterface::canTransitFailureState()
   updateDebugMarker();
   log_debug_throttled(__func__);
 
+  if(getPreviousModuleOutput().path.points.empty()){
+    return true;
+  }
+
   if (module_type_->isAbortState() && !module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has on going.");
     return false;