fix(behavior_velocity_crosswalk_module): stop at stop line associated…

… with crosswalk (#5231) don't consider margin when stop line is found Signed-off-by: kyoichi-sugahara <[email protected]>
autowarefoundation · Oct 5, 2023 · 8e971bc · 8e971bc
1 parent 877b04b
commit 8e971bc
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -299,8 +299,7 @@ std::optional<std::pair<geometry_msgs::msg::Point, double>> CrosswalkModule::get
     const auto p_stop_lines = getLinestringIntersects(
       ego_path, lanelet::utils::to2D(stop_line).basicLineString(), ego_pos, 2);
     if (!p_stop_lines.empty()) {
-      return std::make_pair(
-        p_stop_lines.front(), -planner_param_.stop_distance_from_object - base_link2front);
+      return std::make_pair(p_stop_lines.front(), -base_link2front);
     }
   }