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feat(behavior_velocity_planner): calculate stop line pose precisely #994

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May 31, 2022
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feat(behavior_velocity_planner): calculate stop line pose precisely #994

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3 changes: 2 additions & 1 deletion planning/behavior_velocity_planner/src/scene_module/stop_line/scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -215,7 +215,6 @@ bool StopLineModule::modifyPathVelocity(

const LineString2d stop_line = planning_utils::extendLine(
stop_line_[0], stop_line_[1], planner_data_->stop_line_extend_length);
const geometry_msgs::msg::Point stop_line_position = getCenterOfStopLine(stop_line_);
const auto & current_position = planner_data_->current_pose.pose.position;
const PointWithSearchRangeIndex src_point_with_search_range_index =
planning_utils::findFirstNearSearchRangeIndex(path->points, current_position);
Expand All @@ -234,6 +233,8 @@ bool StopLineModule::modifyPathVelocity(
RCLCPP_WARN(logger_, "is no collision");
return true;
}
const double center_line_z = (stop_line_[0].z() + stop_line_[1].z()) / 2.0;
const auto stop_line_position = planning_utils::toRosPoint(collision->point, center_line_z);

// Find offset segment
const auto offset_segment = findOffsetSegment(*path, *collision);
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