fix(lane_change): approval chatters when no valid paths (autowarefoundation#6516)

zulfaqar-azmi-t4 · web-flow · commit c3199b747725 · 2024-03-05T05:38:00.000Z
Signed-off-by: Muhammad Zulfaqar Azmi &lt;zulfaqar.azmi@tier4.jp&gt;
diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp
@@ -208,11 +208,6 @@ bool LaneChangeInterface::canTransitSuccessState()
     }
   }
 
-  if (!module_type_->isValidPath()) {
-    log_debug_throttled("Has no valid path.");
-    return true;
-  }
-
   if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has completed.");
     return true;

Original file line number	Diff line number	Diff line change
`@@ -208,11 +208,6 @@ bool LaneChangeInterface::canTransitSuccessState()`
`208`	`208`	`}`
`209`	`209`	`}`
`210`	`210`
`211`		`- if (!module_type_->isValidPath()) {`
`212`		`- log_debug_throttled("Has no valid path.");`
`213`		`- return true;`
`214`		`- }`
`215`		`-`
`216`	`211`	`if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {`
`217`	`212`	`log_debug_throttled("Abort process has completed.");`
`218`	`213`	`return true;`