fix: for pr299 function to work (#301)

Signed-off-by: Azumi Suzuki <[email protected]>

planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp

@@ -284,13 +284,6 @@ void MotionVelocitySmootherNode::onExternalVelocityLimit(const VelocityLimit::Co
   constexpr double eps = 1.0E-04;
   const double margin = node_param_.margin_to_insert_external_velocity_limit;
 
-  // Set distance as zero if ego vehicle is stopped and external velocity limit is zero
-  if (
-    std::fabs(current_odometry_ptr_->twist.twist.linear.x) < eps &&
-    external_velocity_limit_ < eps) {
-    external_velocity_limit_dist_ = 0.0;
-  }
-
   // calculate distance and maximum velocity
   // to decelerate to external velocity limit with jerk and acceleration
   // constraints.
@@ -425,6 +418,14 @@ void MotionVelocitySmootherNode::updateDataForExternalVelocityLimit()
     return;
   }
 
+  // Set distance as zero if ego vehicle is stopped and external velocity limit is zero
+  constexpr double eps = 1.0E-04;
+  if (
+    std::fabs(current_odometry_ptr_->twist.twist.linear.x) < eps &&
+    external_velocity_limit_ < eps) {
+    external_velocity_limit_dist_ = 0.0;
+  }
+
   // calculate distance to insert external velocity limit
   const double travel_dist = calcTravelDistance();
   external_velocity_limit_dist_ -= travel_dist;