feat(behavior_path_planner): add option to insert zero velocity to th…

…e center line path (autowarefoundation#5517) feat(behavior_path_planner): Add option to insert zero velocity to the center line path This commit adds a new boolean parameter, `insert_zero_velocity`, to the `getCenterLinePath` function in the `utils.hpp` file. When set to `true`, this parameter will insert a zero velocity to each point in the path. In the `utils.cpp` file, this option is used to insert zero velocities to the reference path generated in the `createGoalAroundPath` function. Signed-off-by: kyoichi-sugahara <[email protected]>
kyoichi-sugahara · Nov 9, 2023 · 27f61b0 · 27f61b0
1 parent 63c1dd6
commit 27f61b0
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp
@@ -974,9 +974,11 @@ BehaviorModuleOutput createGoalAroundPath(const std::shared_ptr<const PlannerDat
     shorten_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset,
     dp.drivable_area_types_to_skip);
 
-  // TODO(someone): insert 0 velocity on the path
-  // assumption: this function is called when any of the scene module is running and ego is outside
-  // of the route
+  // Insert zero velocity to each point in the path.
+  for (auto & point : reference_path.points) {
+    point.point.longitudinal_velocity_mps = 0.0;
+  }
+
   output.path = std::make_shared<PathWithLaneId>(reference_path);
   output.reference_path = std::make_shared<PathWithLaneId>(reference_path);
   output.drivable_area_info.drivable_lanes = drivable_lanes;