fix(behavior_velocity_planner): keep FINALIZED state in vtl module (t…

…ier4#1108) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
boyali · Jul 1, 2022 · 3389dd0 · 3389dd0
1 parent b67c5bf
commit 3389dd0
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
@@ -362,7 +362,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(
   }
 
   // Do nothing if vehicle is after any end line
-  if (isAfterAnyEndLine()) {
+  if (isAfterAnyEndLine() || state_ == State::FINALIZED) {
     RCLCPP_DEBUG(logger_, "after end_line");
     state_ = State::FINALIZED;
     updateInfrastructureCommand();