fix(lane_change): approval chatters when no valid paths

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
autowarefoundation · Feb 29, 2024 · 1a773d9 · 1a773d9
1 parent f2fcbea
commit 1a773d9
Showing 1 changed file with 0 additions and 5 deletions.
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -208,11 +208,6 @@ bool LaneChangeInterface::canTransitSuccessState()
     }
   }
 
-  if (!module_type_->isValidPath()) {
-    log_debug_throttled("Has no valid path.");
-    return true;
-  }
-
   if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has completed.");
     return true;