From 7794e3de75d3d70f7e65cedbacd8187a462d10ec Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Mon, 13 Nov 2023 17:09:35 +0900 Subject: [PATCH] do not decel when searching Signed-off-by: kosuke55 --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp index e8f4b0c9e87ae..4e9f37b998cd0 100644 --- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp @@ -844,6 +844,11 @@ BehaviorModuleOutput GoalPlannerModule::planRunning() BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate() { + // if pull over path candidates generation is not finished, use previous module output + if (thread_safe_data_.get_pull_over_path_candidates().empty()) { + return getPreviousModuleOutput(); + } + BehaviorModuleOutput output{}; const BehaviorModuleOutput pull_over_output = planPullOver(); output.modified_goal = pull_over_output.modified_goal;