From 6ae26549a31b06f8ee96952af0c962925eae2aed Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Tue, 5 Sep 2023 10:06:27 +0900 Subject: [PATCH] fix(start_planner): start pose candidates (#4880) Signed-off-by: kosuke55 --- .../src/scene_module/start_planner/start_planner_module.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp index 2dc2401571d9a..abdd41f4935c5 100644 --- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp +++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp @@ -416,6 +416,9 @@ void StartPlannerModule::planWithPriority( } const auto is_safe_with_pose_planner = [&](const size_t i, const auto & planner) { + // Set back_finished flag based on the current index + status_.back_finished = i == 0; + // Get the pull_out_start_pose for the current index const auto & pull_out_start_pose = start_pose_candidates.at(i); @@ -495,8 +498,6 @@ void StartPlannerModule::planWithPriority( for (const auto & p : order_priority) { if (is_safe_with_pose_planner(p.first, p.second)) { const std::lock_guard lock(mutex_); - // Set back_finished flag based on the current index - status_.back_finished = p.first == 0; return; } }