From 225121a926eebe6bb1e2fe46c124aaa11d50f06b Mon Sep 17 00:00:00 2001
From: yuki-takagi-66 <yuki.takagi@tier4.jp>
Date: Fri, 17 Jan 2025 16:18:57 +0900
Subject: [PATCH] po

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>
---
 .../autoware/behavior_velocity_crosswalk_module/util.hpp   | 1 +
 .../src/debug.cpp                                          | 7 +++++++
 .../src/scene_crosswalk.cpp                                | 5 +++--
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp
index 64c98017d3007..137f21adadafa 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/include/autoware/behavior_velocity_crosswalk_module/util.hpp
@@ -78,6 +78,7 @@ struct DebugData
 
   std::vector<geometry_msgs::msg::Pose> stop_poses;
   std::vector<geometry_msgs::msg::Pose> slow_poses;
+  std::vector<geometry_msgs::msg::Pose> pass_poses;
   std::vector<geometry_msgs::msg::Point> stop_factor_points;
   std::vector<geometry_msgs::msg::Point> crosswalk_polygon;
   std::vector<std::vector<geometry_msgs::msg::Point>> ego_polygons;
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp
index 757803ef35578..0ec5a2a944059 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/debug.cpp
@@ -213,6 +213,13 @@ autoware::motion_utils::VirtualWalls CrosswalkModule::createVirtualWalls()
     wall.pose = calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
     virtual_walls.push_back(wall);
   }
+  wall.style = autoware::motion_utils::VirtualWallType::pass;
+  wall.text += debug_data_.virtual_wall_suffix;
+  for (const auto & p : debug_data_.pass_poses) {
+    wall.pose = calcOffsetPose(p, debug_data_.base_link2front, 0.0, 0.0);
+    virtual_walls.push_back(wall);
+  }
+
   return virtual_walls;
 }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index 844647e33f8c0..2cca72e919722 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -476,12 +476,13 @@ std::optional<geometry_msgs::msg::Pose> CrosswalkModule::calcStopPose(
     return strong_brk_dist_opt ? strong_brk_dist_opt.value() : 0.0;
   }();
   if (selected_stop.dist < strong_brk_dist - p.overrun_threshold_length_for_no_stop_decision) {
-    RCLCPP_INFO(
-      logger_,
+    RCLCPP_INFO_THROTTLE(
+      logger_, *clock_, 1000,
       "Abandon to stop. "
       "Can not stop against the nearest pedestrian with a specified deceleration. "
       "dist to stop: %f, braking distance: %f",
       selected_stop.dist, strong_brk_dist);
+    debug_data_.pass_poses.push_back(selected_stop.pose);
     return std::nullopt;
   }