From 3389dd09d44a3804b8b7196c6256d84fdbabc1ca Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Thu, 16 Jun 2022 15:28:31 +0900
Subject: [PATCH] fix(behavior_velocity_planner): keep FINALIZED state in vtl
 module (#1108)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../src/scene_module/virtual_traffic_light/scene.cpp            | 2 +-
 1 file changed, 1 insertion(+), 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
index 5909180107eb2..c84a591b4dd79 100644
--- 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();