fix(lane_change): transit failure if previous module path empty #7178
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Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>
zulfaqar-azmi-t4
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kosuke55,
satoshi-ota,
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Signed-off-by: Zulfaqar Azmi <[email protected]>
Signed-off-by: Zulfaqar Azmi <[email protected]>
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Description
When goal planner triggers the modified goals, it will clear the previous module's path at 1 iteration, which also clears lane change module's path. Lane change module is unaware of this changes and assumes that path still exist even though it is not. This causes lane change module to pass empty path to the next module (which is avoidance module).
This PR aims to fix this issue by cancelling lane change if previous module's path is empty.
Tests performed
Not applicable.
Effects on system behavior
Not applicable.
Interface changes
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