From 6398f9be448e06659894f6d08f6af1bcc2376f51 Mon Sep 17 00:00:00 2001 From: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Date: Mon, 17 Jun 2024 15:40:56 +0900 Subject: [PATCH] fix(behavior_path_planner): reset current route lanelet in manual drive (#7505) Signed-off-by: Maxime CLEMENT --- .../src/behavior_path_planner_node.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp index be0c0703c0541..c576851853e20 100644 --- a/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp @@ -417,7 +417,9 @@ void BehaviorPathPlannerNode::run() const auto controlled_by_autoware_autonomously = planner_data_->operation_mode->mode == OperationModeState::AUTONOMOUS && planner_data_->operation_mode->is_autoware_control_enabled; - if (!controlled_by_autoware_autonomously && !planner_manager_->hasApprovedModules()) + if ( + !controlled_by_autoware_autonomously && + !planner_manager_->hasNonAlwaysExecutableApprovedModules()) planner_manager_->resetCurrentRouteLanelet(planner_data_); // run behavior planner