fix(start_planner): don't update start pose when backward driving is …

…finished (autowarefoundation#5998) Fix conditional check in updatePullOutStatus function Signed-off-by: kyoichi-sugahara <[email protected]>
tier4 · Jan 11, 2024 · 0c7f926 · 0c7f926
1 parent f250248
commit 0c7f926
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/planning/behavior_path_start_planner_module/src/start_planner_module.cpp b/planning/behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -839,8 +839,10 @@ void StartPlannerModule::updatePullOutStatus()
     return {*refined_start_pose};
   });
 
-  planWithPriority(
-    start_pose_candidates, *refined_start_pose, goal_pose, parameters_->search_priority);
+  if (!status_.backward_driving_complete) {
+    planWithPriority(
+      start_pose_candidates, *refined_start_pose, goal_pose, parameters_->search_priority);
+  }
 
   start_planner_data_.refined_start_pose = *refined_start_pose;
   start_planner_data_.start_pose_candidates = start_pose_candidates;