fix(behavior_velocity_planner::intersection): only zero hold velocity (…

…#3327) only zero hold velocity Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
autowarefoundation · Apr 10, 2023 · fe488e9 · fe488e9
1 parent bd9f336
commit fe488e9
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/util.cpp
@@ -58,7 +58,8 @@ std::optional<size_t> insertPoint(
   } else {
     // copy with velocity from prior point
     const size_t prior_ind = closest_idx > 0 ? closest_idx - 1 : 0;
-    inserted_point = inout_path->points.at(prior_ind);
+    inserted_point.point.longitudinal_velocity_mps =
+      inout_path->points.at(prior_ind).point.longitudinal_velocity_mps;
   }
   inserted_point.point.pose = in_pose;