fix(goal_planner): set rederence path for candidate path (#5886)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Dec 15, 2023 · a661585 · a661585
1 parent 88dae03
commit a661585
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -943,6 +943,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate()
   const BehaviorModuleOutput pull_over_output = planPullOverAsOutput();
   output.modified_goal = pull_over_output.modified_goal;
   output.path = std::make_shared<PathWithLaneId>(generateStopPath());
+  output.reference_path = getPreviousModuleOutput().reference_path;
 
   const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes(
     *output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters);