fix(behavior_path_planner): use expand lanelet in pull over (#2313)

kosuke55 · web-flow · commit 3f3d3ad253da · 2022-11-18T15:43:05.000+09:00
Signed-off-by: kosuke55 &lt;kosuke.tnp@gmail.com&gt;

Signed-off-by: kosuke55 &lt;kosuke.tnp@gmail.com&gt;
diff --git a/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp b/planning/behavior_path_planner/src/scene_module/pull_over/pull_over_module.cpp
@@ -446,7 +446,7 @@ BehaviorModuleOutput PullOverModule::plan()
       status_.lanes, parameters_.drivable_area_left_bound_offset,
       parameters_.drivable_area_right_bound_offset);
     path.drivable_area = util::generateDrivableArea(
-      path, status_.lanes, p.drivable_area_resolution, p.vehicle_length, planner_data_);
+      path, lane, p.drivable_area_resolution, p.vehicle_length, planner_data_);
   }
 
   BehaviorModuleOutput output;

Original file line number	Diff line number	Diff line change
`@@ -446,7 +446,7 @@ BehaviorModuleOutput PullOverModule::plan()`
`446`	`446`	`status_.lanes, parameters_.drivable_area_left_bound_offset,`
`447`	`447`	`parameters_.drivable_area_right_bound_offset);`
`448`	`448`	`path.drivable_area = util::generateDrivableArea(`
`449`		`- path, status_.lanes, p.drivable_area_resolution, p.vehicle_length, planner_data_);`
	`449`	`+ path, lane, p.drivable_area_resolution, p.vehicle_length, planner_data_);`
`450`	`450`	`}`
`451`	`451`
`452`	`452`	`BehaviorModuleOutput output;`