feat(start_planner): add offset to not finish before engage (autoware…

…foundation#4121) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
kyoichi-sugahara · Aug 28, 2023 · 0ac8690 · 0ac8690
1 parent 70ee8bc
commit 0ac8690
Showing 1 changed file with 3 additions and 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
@@ -728,7 +728,9 @@ 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;
 
 #ifdef USE_OLD_ARCHITECTURE
   is_executed_ = !has_finished;