fix(behavior_path_planner): reset current route lanelet in manual drive #7505
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Signed-off-by: Maxime CLEMENT <[email protected]>
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…ve (autowarefoundation#7505) Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Simon Eisenmann <[email protected]>
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…ve (#7505) Signed-off-by: Maxime CLEMENT <[email protected]>
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Description
This PR fixes a bug where the current route lanelet was not properly reset when driving manually.
The previous condition used
planner_manager_->hasApprovedModules()which would be true when the goal or dynamic obstacle avoidance modules were running.The new condition uses
planner_manager_->hasNonAlwaysExecutableApprovedModules()which ignores the goal and dynamic obstacle avoidance modules.Tests performed
Psim and made sure that a previously failing scenario is now passing.
Effects on system behavior
Not applicable.
Interface changes
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