fix(bpp-goal_planner): fix turn signal info for the right side pullin…

…g over (#4410) Signed-off-by: Mehmet Dogru <mdogru@leodrive.ai>
autowarefoundation · Jul 27, 2023 · 9f6fdce · 9f6fdce
1 parent 0205955
commit 9f6fdce
Showing 1 changed file with 9 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -1110,8 +1110,15 @@ TurnSignalInfo GoalPlannerModule::calcTurnSignalInfo() const
     const double distance_to_end =
       calcSignedArcLength(full_path.points, current_pose.position, end_pose.position);
     const bool is_before_end_pose = distance_to_end >= 0.0;
-    turn_signal.turn_signal.command =
-      is_before_end_pose ? TurnIndicatorsCommand::ENABLE_LEFT : TurnIndicatorsCommand::NO_COMMAND;
+    if (is_before_end_pose) {
+      if (left_side_parking_) {
+        turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_LEFT;
+      } else {
+        turn_signal.turn_signal.command = TurnIndicatorsCommand::ENABLE_RIGHT;
+      }
+    } else {
+      turn_signal.turn_signal.command = TurnIndicatorsCommand::NO_COMMAND;
+    }
   }
 
   // calc desired/required start/end point