feat(behavior_velocity_planner): output stop reason of traffic light …

…whenever a stop point is inserted (backport autowarefoundation#2323) (#209) feat(behavior_velocity_planner): output stop reason of traffic light whenever a stop point is inserted (autowarefoundation#2323) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp>
tier4 · Dec 15, 2022 · fbe93c3 · fbe93c3
1 parent 13d6053
commit fbe93c3
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
@@ -490,8 +490,9 @@ autoware_auto_planning_msgs::msg::PathWithLaneId TrafficLightModule::insertStopP
   if (debug_data_.highest_confidence_traffic_light_point != std::nullopt) {
     stop_factor.stop_factor_points = std::vector<geometry_msgs::msg::Point>{
       debug_data_.highest_confidence_traffic_light_point.value()};
-    planning_utils::appendStopReason(stop_factor, stop_reason);
   }
+  planning_utils::appendStopReason(stop_factor, stop_reason);
+
   return modified_path;
 }