fix(behavior_path_planner): fix turn singal (#1539)

* fix(behavior_path_planner): fix turn singal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * apply pre-commit Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
autowarefoundation · Aug 8, 2022 · 3dbcae2 · 3dbcae2
1 parent a9acb3f
commit 3dbcae2
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/turn_signal_decider.cpp b/planning/behavior_path_planner/src/turn_signal_decider.cpp
@@ -71,6 +71,9 @@ std::pair<TurnIndicatorsCommand, double> TurnSignalDecider::getIntersectionTurnS
     const double distance_from_vehicle_front =
       accumulated_distance - vehicle_pose_frenet.length - base_link2front_;
     if (distance_from_vehicle_front > intersection_search_distance_) {
+      if (turn_signal.command == TurnIndicatorsCommand::DISABLE) {
+        distance = std::numeric_limits<double>::max();
+      }
       return std::make_pair(turn_signal, distance);
     }
     // TODO(Horibe): Route Handler should be a library.
@@ -103,7 +106,7 @@ std::pair<TurnIndicatorsCommand, double> TurnSignalDecider::getIntersectionTurnS
       }
     }
   }
-  if (turn_signal.command == TurnIndicatorsCommand::NO_COMMAND) {
+  if (turn_signal.command == TurnIndicatorsCommand::DISABLE) {
     distance = std::numeric_limits<double>::max();
   }
   return std::make_pair(turn_signal, distance);