From 0f1b8d0179a923a8946ab1b12807a317df2004f1 Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Mon, 19 Dec 2022 18:34:12 +0900 Subject: [PATCH] feat(behavior_path_planner): add external request lane change path candidate publisher Signed-off-by: Fumiya Watanabe --- .../src/behavior_path_planner_node.cpp | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp index d2d1ed8358fcd..f05a7fa022288 100644 --- 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( "ExternalRequestLaneChangeRight", *this, lane_change_param_ptr); + path_candidate_publishers_.emplace( + "ExternalRequestLaneChangeRight", + create_publisher(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( "ExternalRequestLaneChangeLeft", *this, lane_change_param_ptr); + path_candidate_publishers_.emplace( + "ExternalRequestLaneChangeLeft", + create_publisher(path_candidate_name_space + "ext_request_lane_change_left", 1)); bt_manager_->registerSceneModule(ext_request_lane_change_left_module); auto lane_change_module =