Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(autoware_behavior_path_static_obstacle_avoidance_module): blinker bug in static obstacle avoidance #10303

Merged
merged 1 commit into from
Mar 21, 2025
Merged

fix(autoware_behavior_path_static_obstacle_avoidance_module): blinker bug in static obstacle avoidance #10303

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 4 additions & 12 deletions ...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -988,18 +988,6 @@
return getPreviousModuleOutput().turn_signal_info;
}

const auto itr =
std::remove_if(shift_lines.begin(), shift_lines.end(), [&, this](const auto & s) {
const auto threshold = planner_data_->parameters.turn_signal_shift_length_threshold;
return std::abs(s.start_shift_length - s.end_shift_length) < threshold ||
is_ignore_signal(s.id);
});
shift_lines.erase(itr, shift_lines.end());

if (shift_lines.empty()) {
return getPreviousModuleOutput().turn_signal_info;
}

const auto target_shift_line = [&]() {
const auto & s1 = shift_lines.front();

Expand Down Expand Up @@ -1042,6 +1030,10 @@
return s1;
}();

if (is_ignore_signal(target_shift_line.id)) {
return getPreviousModuleOutput().turn_signal_info;

Check warning on line 1034 in planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp

View check run for this annotation

Codecov / codecov/patch

planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp#L1034 

Added line #L1034 was not covered by tests
}

const auto original_signal = getPreviousModuleOutput().turn_signal_info;

constexpr bool is_driving_forward = true;
Expand Down
Loading