From 297d78098d2173f57a52d7893d5dbb9bee949ebd Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Fri, 27 Sep 2024 20:27:24 +0900 Subject: [PATCH] fix(goal_planner): fix freespace planning chattering Signed-off-by: kosuke55 --- .../src/goal_planner_module.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index ec7a8e12de573..4a59857725a5e 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1329,9 +1329,12 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( return getPreviousModuleOutput(); } + const bool is_freespace = + thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE; if ( path_decision_controller_.get_current_state().state == PathDecisionState::DecisionKind::NOT_DECIDED && + !is_freespace && needPathUpdate( planner_data_->self_odometry->pose.pose, 1.0 /*path_update_duration*/, *parameters_)) { // if the final path is not decided and enough time has passed since last path update, @@ -1370,9 +1373,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput( setOutput(context_data, output); // return to lane parking if it is possible - if ( - thread_safe_data_.getPullOverPlannerType() == PullOverPlannerType::FREESPACE && - canReturnToLaneParking(context_data)) { + if (is_freespace && canReturnToLaneParking(context_data)) { thread_safe_data_.set_pull_over_path(thread_safe_data_.get_lane_parking_pull_over_path()); }