fix(behavior_velocity_planner): fix distance for traffic light module (…

…autowarefoundation#1455) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
tzhong518 · Oct 14, 2022 · 8d20514 · 8d20514
1 parent 3927d7d
commit 8d20514
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/traffic_light/scene.cpp
@@ -228,6 +228,8 @@ bool TrafficLightModule::modifyPathVelocity(
         planner_param_.stop_margin + planner_data_->vehicle_info_.max_longitudinal_offset_m,
         planner_data_->stop_line_extend_length, stop_line_point, stop_line_point_idx)) {
     RCLCPP_WARN_THROTTLE(logger_, *clock_, 5000, "Failed to calculate stop point and insert index");
+    setSafe(true);
+    setDistance(std::numeric_limits<double>::lowest());
     return false;
   }