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fix(behavior_path_planner): fix pull out stop path (#2699) #252

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Jan 20, 2023
Merged

fix(behavior_path_planner): fix pull out stop path (#2699) #252

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15 changes: 13 additions & 2 deletions planning/behavior_path_planner/src/scene_module/pull_out/pull_out_module.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -176,7 +176,8 @@ BehaviorModuleOutput PullOutModule::plan()
if (!status_.is_safe) {
RCLCPP_WARN_THROTTLE(
getLogger(), *clock_, 5000, "Not found safe pull out path, publish stop path");
const PathWithLaneId stop_path = generateStopPath();
// the path of getCurrent() is generated by generateStopPath()
const PathWithLaneId stop_path = getCurrentPath();
output.path = std::make_shared<PathWithLaneId>(stop_path);
path_candidate_ = std::make_shared<PathWithLaneId>(stop_path);
return output;
Expand Down Expand Up @@ -285,11 +286,20 @@ BehaviorModuleOutput PullOutModule::planWaitingApproval()
waitApproval();

BehaviorModuleOutput output;
if (!status_.is_safe) {
RCLCPP_WARN_THROTTLE(
getLogger(), *clock_, 5000, "Not found safe pull out path, publish stop path");
// the path of getCurrent() is generated by generateStopPath()
const PathWithLaneId stop_path = getCurrentPath();
output.path = std::make_shared<PathWithLaneId>(stop_path);
path_candidate_ = std::make_shared<PathWithLaneId>(stop_path);
return output;
}

const auto current_lanes = util::getExtendedCurrentLanes(planner_data_);
const auto pull_out_lanes = pull_out_utils::getPullOutLanes(planner_data_);
const auto drivable_lanes =
util::generateDrivableLanesWithShoulderLanes(current_lanes, pull_out_lanes);

const auto expanded_lanes = util::expandLanelets(
drivable_lanes, parameters_.drivable_area_left_bound_offset,
parameters_.drivable_area_right_bound_offset);
Expand Down Expand Up @@ -507,6 +517,7 @@ void PullOutModule::updatePullOutStatus()
RCLCPP_WARN_THROTTLE(
getLogger(), *clock_, 5000, "Not found safe pull out path, generate stop path");
status_.back_finished = true; // no need to drive backward
status_.pull_out_path.partial_paths.clear();
status_.pull_out_path.partial_paths.push_back(generateStopPath());
status_.pull_out_path.start_pose = current_pose;
status_.pull_out_path.end_pose = current_pose;
Expand Down