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chore(intersection): display intersection marker only when stopped #3150

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merged 1 commit into from
Mar 24, 2023
+6 −7
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chore(intersection): display intersection marker only when stopped #3150

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2 changes: 0 additions & 2 deletions planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,8 +48,6 @@ class IntersectionModule : public SceneModuleInterface
public:
struct DebugData
{
bool stop_required;

geometry_msgs::msg::Pose stop_wall_pose;
geometry_msgs::msg::Polygon stuck_vehicle_detect_area;
geometry_msgs::msg::Polygon candidate_collision_ego_lane_polygon;
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10 changes: 6 additions & 4 deletions planning/behavior_velocity_planner/src/scene_module/intersection/debug.cpp
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Expand Up @@ -176,10 +176,12 @@ visualization_msgs::msg::MarkerArray IntersectionModule::createVirtualWallMarker

const auto now = this->clock_->now();

appendMarkerArray(
virtual_wall_marker_creator_->createStopVirtualWallMarker(
{debug_data_.stop_wall_pose}, "intersection", now, module_id_),
&wall_marker, now);
if (state_machine_.getState() == StateMachine::State::STOP) {
appendMarkerArray(
virtual_wall_marker_creator_->createStopVirtualWallMarker(
{debug_data_.stop_wall_pose}, "intersection", now, module_id_),
&wall_marker, now);
}
return wall_marker;
}

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1 change: 0 additions & 1 deletion planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
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Expand Up @@ -271,7 +271,6 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *

constexpr double v = 0.0;
planning_utils::setVelocityFromIndex(stop_line_idx.value(), v, path);
debug_data_.stop_required = true;
const double base_link2front = planner_data_->vehicle_info_.max_longitudinal_offset_m;
debug_data_.stop_wall_pose =
planning_utils::getAheadPose(stop_line_idx.value(), base_link2front, *path);
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