From e2af040e551fdec1ae9d59c9bd1cf0a1969ae402 Mon Sep 17 00:00:00 2001 From: kosuke55 Date: Thu, 29 Jun 2023 21:43:21 +0900 Subject: [PATCH] feat(start_planner): add offset to not finish before engage Signed-off-by: kosuke55 --- .../src/scene_module/start_planner/start_planner_module.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index e9e28b8e62f9b..3540b616aa78f 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -682,7 +682,9 @@ bool StartPlannerModule::hasFinishedPullOut() const const auto arclength_pull_out_end = lanelet::utils::getArcCoordinates(status_.current_lanes, status_.pull_out_path.end_pose); - const bool has_finished = arclength_current.length - arclength_pull_out_end.length > 0.0; + // offset to not finish the module before engage + constexpr double offset = 0.1; + const bool has_finished = arclength_current.length - arclength_pull_out_end.length > offset; return has_finished; }