feat(start_planner): run start planner even if ego is out of lane (au…

…towarefoundation#4895)

Signed-off-by: kosuke55 <[email protected]>

planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

@@ -136,26 +136,6 @@ bool StartPlannerModule::isExecutionRequested() const
     return false;
   }
 
-  // Create vehicle footprint
-  const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_);
-  const auto vehicle_footprint = transformVector(
-    local_vehicle_footprint,
-    tier4_autoware_utils::pose2transform(planner_data_->self_odometry->pose.pose));
-
-  // Check if ego is not out of lanes
-  const double backward_path_length =
-    planner_data_->parameters.backward_path_length + parameters_->max_back_distance;
-  const auto current_lanes = utils::getExtendedCurrentLanes(
-    planner_data_, backward_path_length, std::numeric_limits<double>::max(),
-    /*forward_only_in_route*/ true);
-  const auto pull_out_lanes =
-    start_planner_utils::getPullOutLanes(planner_data_, backward_path_length);
-  const auto lanes = utils::combineLanelets(current_lanes, pull_out_lanes);
-
-  if (LaneDepartureChecker::isOutOfLane(lanes, vehicle_footprint)) {
-    return false;
-  }
-
   return true;
 }