fix(lane_change): fix invalid doesn't have stop point (autowarefounda…

…tion#8470) fix invalid doesn't have stop point Signed-off-by: Zulfaqar Azmi <[email protected]>
tier4 · Aug 15, 2024 · 55e6408 · 55e6408
1 parent 6dbbbe6
commit 55e6408
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/scene.cpp
@@ -301,6 +301,7 @@ BehaviorModuleOutput NormalLaneChange::generateOutput()
   universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
   if (!status_.is_valid_path) {
     RCLCPP_DEBUG(logger_, "No valid path found. Returning previous module's path as output.");
+    insertStopPoint(get_current_lanes(), prev_module_output_.path);
     return prev_module_output_;
   }