revert(lane_change): disable terminal path (autowarefoundation#6800)

zulfaqar-azmi-t4 · zulfaqar-azmi-t4 · commit ca5a55a8141e · 2024-05-16T17:24:33.000+09:00
Signed-off-by: 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
@@ -129,8 +129,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
 {
   *prev_approved_path_ = getPreviousModuleOutput().path;
 
-  BehaviorModuleOutput out;
-  out = module_type_->getTerminalLaneChangePath();
+  BehaviorModuleOutput out = getPreviousModuleOutput();
   module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path);
   out.turn_signal_info =
     getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info);

Original file line number	Diff line number	Diff line change
`@@ -129,8 +129,7 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()`
`129`	`129`	`{`
`130`	`130`	`*prev_approved_path_ = getPreviousModuleOutput().path;`
`131`	`131`
`132`		`- BehaviorModuleOutput out;`
`133`		`- out = module_type_->getTerminalLaneChangePath();`
	`132`	`+ BehaviorModuleOutput out = getPreviousModuleOutput();`
`134`	`133`	`module_type_->insertStopPoint(module_type_->getLaneChangeStatus().current_lanes, out.path);`
`135`	`134`	`out.turn_signal_info =`
`136`	`135`	`getCurrentTurnSignalInfo(out.path, getPreviousModuleOutput().turn_signal_info);`