From 8e209a146357ec5d613f03b54b9711f0d980bcc6 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 21 Nov 2023 13:42:00 +0900 Subject: [PATCH] fix(goal_planner): fix prevent auto approval for unsafe path #5621 (#5636) Signed-off-by: kosuke55 --- .../src/scene_module/goal_planner/goal_planner_module.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 f39d706eb7ceb..ea8b5fd79c5d0 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 @@ -864,7 +864,7 @@ bool GoalPlannerModule::hasDecidedPath() const // If it is dangerous before approval, do not determine the path. // This eliminates a unsafe path to be approved - if (!isSafePath() && !isActivated()) { + if (parameters_->safety_check_params.enable_safety_check && !isSafePath() && !isActivated()) { return false; }