fix(behavior_velociry_planner): change virtual wall color in slow dow…

…n condition (tier4#1355) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
boyali · Oct 3, 2022 · b66a9c0 · b66a9c0
1 parent 033a630
commit b66a9c0
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/scene_crosswalk.cpp
@@ -638,7 +638,12 @@ void CrosswalkModule::insertDecelPoint(
   setDistance(stop_point_distance);
 
   debug_data_.first_stop_pose = stop_point.second.point.pose;
-  debug_data_.stop_poses.push_back(stop_point.second.point.pose);
+
+  if (std::abs(target_velocity) < 1e-3) {
+    debug_data_.stop_poses.push_back(stop_point.second.point.pose);
+  } else {
+    debug_data_.slow_poses.push_back(stop_point.second.point.pose);
+  }
 }
 
 float CrosswalkModule::calcTargetVelocity(