revert(avoidance): reset rtc status in yield status (autowarefoundati…

…on#3798) (autowarefoundation#608) Revert "fix(avoidance): reset rtc status in yield status (autowarefoundation#3798)" This reverts commit 65a5065.
badai-nguyen · Jun 22, 2023 · f07ddbc · f07ddbc
1 parent 513333c
commit f07ddbc
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -593,8 +593,7 @@ void AvoidanceModule::updateEgoBehavior(const AvoidancePlanningData & data, Shif
     case AvoidanceState::YIELD: {
       insertYieldVelocity(path);
       insertWaitPoint(parameters_->use_constraints_for_decel, path);
-      initRTCStatus();
-      unlockNewModuleLaunch();
+      removeRegisteredShiftLines();
       break;
     }
     case AvoidanceState::AVOID_PATH_NOT_READY: {