feat(behavior_path_planner): add external request lane change path ca…

…ndidate publisher Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Dec 19, 2022 · 0f1b8d0 · 0f1b8d0
1 parent 3fbd085
commit 0f1b8d0
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -136,11 +136,17 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
     auto ext_request_lane_change_right_module =
       std::make_shared<ExternalRequestLaneChangeRightModule>(
         "ExternalRequestLaneChangeRight", *this, lane_change_param_ptr);
+    path_candidate_publishers_.emplace(
+      "ExternalRequestLaneChangeRight",
+      create_publisher<Path>(path_candidate_name_space + "ext_request_lane_change_right", 1));
     bt_manager_->registerSceneModule(ext_request_lane_change_right_module);
 
     auto ext_request_lane_change_left_module =
       std::make_shared<ExternalRequestLaneChangeLeftModule>(
         "ExternalRequestLaneChangeLeft", *this, lane_change_param_ptr);
+    path_candidate_publishers_.emplace(
+      "ExternalRequestLaneChangeLeft",
+      create_publisher<Path>(path_candidate_name_space + "ext_request_lane_change_left", 1));
     bt_manager_->registerSceneModule(ext_request_lane_change_left_module);
 
     auto lane_change_module =