do not publish looped-route

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
autowarefoundation · Aug 29, 2022 · ae1037a · ae1037a
1 parent cffb5b0
commit ae1037a
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp b/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp
@@ -279,8 +279,8 @@ autoware_auto_planning_msgs::msg::HADMapRoute MissionPlannerLanelet2::planRoute(
   }
 
   if (route_handler_.isRouteLooped(route_sections)) {
-    RCLCPP_WARN(
-      get_logger(), "Loop detected within route! Be aware that looped route is not debugged!");
+    RCLCPP_WARN(get_logger(), "Loop detected within route!");
+    return route_msg;
   }
 
   refineGoalHeight(route_sections);