return previous module output if LC module status is IDLE

Signed-off-by: mohammad alqudah <alqudah.mohammad@tier4.jp>
autowarefoundation · Mar 7, 2025 · 81e8df0 · 81e8df0
1 parent ded5f5b
commit 81e8df0
Showing 1 changed file with 9 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -105,6 +105,15 @@ BehaviorModuleOutput LaneChangeInterface::plan()
   resetPathCandidate();
   resetPathReference();
 
+  // plan() should be called only when the module is in the RUNNING state, but
+  // due to planner manager implementation, it can be called in the IDLE state.
+  // TODO(Azu, Quda): consider a proper fix.
+  if (getCurrentStatus() == ModuleStatus::IDLE) {
+    auto output = getPreviousModuleOutput();
+    path_reference_ = std::make_shared<PathWithLaneId>(output.reference_path);
+    return output;
+  }
+
   auto output = module_type_->generateOutput();
   path_reference_ = std::make_shared<PathWithLaneId>(output.reference_path);