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feat(behavior_velocity_planner): output stop reason of traffic light whenever a stop point is inserted #2323

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Nov 18, 2022
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feat(behavior_velocity_planner): output stop reason of traffic light whenever a stop point is inserted #2323

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feat(behavior_velocity_planner): output stop reason of traffic light … 
…whenever a stop point is inserted

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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@tkimura4
tkimura4 committed Nov 18, 2022
commit 2c4844b263205f1d4c124342b3946473e5c3c997
3 changes: 2 additions & 1 deletion planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -489,8 +489,9 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP
if (debug_data_.highest_confidence_traffic_light_point != std::nullopt) {
stop_factor.stop_factor_points = std::vector<geometry_msgs::msg::Point>{
debug_data_.highest_confidence_traffic_light_point.value()};
planning_utils::appendStopReason(stop_factor, stop_reason);
}
planning_utils::appendStopReason(stop_factor, stop_reason);

return modified_path;
}

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