feat(behavior_velocity_planner): output stop reason of traffic light whenever a stop point is inserted (backport autowarefoundation#2323) (#209)

h-ohta · tkimura4 · web-flow · commit fbe93c33b960 · 2022-12-15T09:08:40.000Z
feat(behavior_velocity_planner): output stop reason of traffic light whenever a stop point is inserted (autowarefoundation#2323) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
@@ -490,8 +490,9 @@ 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;
 }
 

Original file line number	Diff line number	Diff line change
`@@ -490,8 +490,9 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP`
`490`	`490`	`if (debug_data_.highest_confidence_traffic_light_point != std::nullopt) {`
`491`	`491`	`stop_factor.stop_factor_points = std::vector<geometry_msgs::msg::Point>{`
`492`	`492`	`debug_data_.highest_confidence_traffic_light_point.value()};`
`493`		`- planning_utils::appendStopReason(stop_factor, stop_reason);`
`494`	`493`	`}`
	`494`	`+ planning_utils::appendStopReason(stop_factor, stop_reason);`
	`495`	`+`
`495`	`496`	`return modified_path;`
`496`	`497`	`}`
`497`	`498`