From 769a0af44292f7c6c86b27a008f21e74db91abe9 Mon Sep 17 00:00:00 2001 From: Muhammad Zulfaqar Azmi Date: Tue, 9 Apr 2024 11:19:45 +0900 Subject: [PATCH] Add warning Signed-off-by: Muhammad Zulfaqar Azmi --- .../behavior_path_planner/src/behavior_path_planner_node.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index 80d58dbb20639..587ca571f86ba 100644 --- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp +++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp @@ -826,6 +826,8 @@ void BehaviorPathPlannerNode::onOperationMode(const OperationModeState::ConstSha void BehaviorPathPlannerNode::on_external_velocity_limiter( const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg) { + // Note: Using this parameter during path planning might cause unexpected deceleration or jerk. + // Therefore, do not use it for anything other than safety checks. if (!msg) { return; }