From b340fefb26014aa0e7c1a9340440d0a582cbd71d Mon Sep 17 00:00:00 2001 From: Mehmet Dogru Date: Wed, 26 Jul 2023 17:38:26 +0300 Subject: [PATCH] fix(bpp-goal_planner): fix turn signal info for the right side pulling over Signed-off-by: Mehmet Dogru --- .../scene_module/goal_planner/goal_planner_module.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 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 index f0aec7ba62d2f..863d985da5ece 100644 --- 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 @@ -1108,8 +1108,15 @@ 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