fix(lane_change): update rtc status for some failure condition (autow…

…arefoundation#8604) update rtc status for some failure condition Signed-off-by: Go Sakayori <[email protected]>
tier4 · Sep 9, 2024 · b6650a5 · b6650a5
1 parent 3967636
commit b6650a5
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -257,11 +257,17 @@ bool LaneChangeInterface::canTransitFailureState()
 
   if (!module_type_->isValidPath()) {
     log_debug_throttled("Transit to failure state due not to find valid path");
+    updateRTCStatus(
+      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
+      State::FAILED);
     return true;
   }
 
   if (module_type_->isAbortState() && module_type_->hasFinishedAbort()) {
     log_debug_throttled("Abort process has completed.");
+    updateRTCStatus(
+      std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(), true,
+      State::FAILED);
     return true;
   }