From 27f61b0ed668ded54f5f896218e45703aa9fb16a Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Thu, 9 Nov 2023 12:40:49 +0900
Subject: [PATCH] feat(behavior_path_planner): add option to insert zero
 velocity to the center line path (#5517)

feat(behavior_path_planner): Add option to insert zero velocity to the center line path

This commit adds a new boolean parameter, `insert_zero_velocity`, to the `getCenterLinePath` function in the `utils.hpp` file. When set to `true`, this parameter will insert a zero velocity to each point in the path. In the `utils.cpp` file, this option is used to insert zero velocities to the reference path generated in the `createGoalAroundPath` function.

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 planning/behavior_path_planner/src/utils/utils.cpp | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
index 62a48da85ba2c..19c408359e5f2 100644
--- a/planning/behavior_path_planner/src/utils/utils.cpp
+++ b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -974,9 +974,11 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr<const PlannerDat
     shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset,
     dp.drivable_area_types_to_skip);
 
-  // TODO(someone): insert 0 velocity on the path
-  // assumption: this function is called when any of the scene module is running and ego is outside
-  // of the route
+  // Insert zero velocity to each point in the path.
+  for (auto & point : reference_path.points) {
+    point.point.longitudinal_velocity_mps = 0.0;
+  }
+
   output.path = std::make_shared<PathWithLaneId>(reference_path);
   output.reference_path = std::make_shared<PathWithLaneId>(reference_path);
   output.drivable_area_info.drivable_lanes = drivable_lanes;