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revert(lane_change): remove terminal in abort path (autowarefoundation#6930)
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
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  • planning/behavior_path_lane_change_module/src

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planning/behavior_path_lane_change_module/src/scene.cpp

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@@ -1888,11 +1888,11 @@ bool NormalLaneChange::calcAbortPath()
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PathWithLaneId reference_lane_segment = prev_module_path_;
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{
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const auto terminal_path =
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calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes);
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if (terminal_path) {
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reference_lane_segment = terminal_path->path;
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}
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// const auto terminal_path =
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// calcTerminalLaneChangePath(reference_lanelets, selected_path.info.target_lanes);
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// if (terminal_path) {
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// reference_lane_segment = terminal_path->path;
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// }
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const auto return_pose = shifted_path.path.points.at(abort_return_idx).point.pose;
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const auto seg_idx = motion_utils::findFirstNearestSegmentIndexWithSoftConstraints(
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reference_lane_segment.points, return_pose, common_param.ego_nearest_dist_threshold,

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