fix: stop_line visualization (#1029)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> Signed-off-by: kyoichi sugahara <81.s.kyo.19@gmail.com>
autowarefoundation · Jun 3, 2022 · 7656e14 · 7656e14
1 parent 8597229
commit 7656e14
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp b/planning/behavior_velocity_planner/src/scene_module/stop_line/debug.cpp
@@ -96,9 +96,11 @@ visualization_msgs::msg::MarkerArray StopLineModule::createVirtualWallMarkerArra
   visualization_msgs::msg::MarkerArray wall_marker;
   const auto p_front = tier4_autoware_utils::calcOffsetPose(
     *debug_data_.stop_pose, debug_data_.base_link2front, 0.0, 0.0);
-  appendMarkerArray(
-    tier4_autoware_utils::createStopVirtualWallMarker(p_front, "stopline", now, module_id_), now,
-    &wall_marker);
+  if (state_ == State::APPROACH) {
+    appendMarkerArray(
+      tier4_autoware_utils::createStopVirtualWallMarker(p_front, "stopline", now, module_id_), now,
+      &wall_marker);
+  }
   return wall_marker;
 }
 }  // namespace behavior_velocity_planner