fix(static_obstacle_avoidance): suppress unnecessary warning (autowar…

…efoundation#9142) (#1606) Signed-off-by: satoshi-ota <[email protected]>
tier4 · Oct 28, 2024 · cdeea66 · cdeea66
1 parent ed926b3
commit cdeea66
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/planning/behavior_path_avoidance_module/src/scene.cpp b/planning/behavior_path_avoidance_module/src/scene.cpp
@@ -1505,11 +1505,6 @@ void AvoidanceModule::insertReturnDeadLine(
 {
   const auto & data = avoid_data_;
 
-  if (data.new_shift_line.empty()) {
-    RCLCPP_WARN(getLogger(), "module doesn't have return shift line.");
-    return;
-  }
-
   if (data.to_return_point > planner_data_->parameters.forward_path_length) {
     RCLCPP_DEBUG(getLogger(), "return dead line is far enough.");
     return;
@@ -1522,6 +1517,11 @@ void AvoidanceModule::insertReturnDeadLine(
     return;
   }
 
+  if (data.new_shift_line.empty()) {
+    RCLCPP_WARN(getLogger(), "module doesn't have return shift line.");
+    return;
+  }
+
   if (!helper_->isFeasible(data.new_shift_line)) {
     RCLCPP_WARN(getLogger(), "return shift line is not feasible. do nothing..");
     return;