isOnModifiedGoal() is the last function using modified_goal_pose()

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Oct 3, 2024 · 32af9d8 · 32af9d8
1 parent 33d77e5
commit 32af9d8
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -548,7 +548,7 @@ void GoalPlannerModule::updateData()
       return std::nullopt;
     }
     const auto & pull_over_path = pull_over_path_recv.value();
-    return pull_over_path.modified_goal_pose();
+    return pull_over_path.modified_goal();
   }();
 
   const bool is_current_safe = isSafePath(
@@ -2391,7 +2391,8 @@ void GoalPlannerModule::setDebugData(const PullOverContextData & context_data)
     const auto & pull_over_path = context_data.pull_over_path_opt.value();
     add(
       createPoseMarkerArray(pull_over_path.start_pose(), "pull_over_start_pose", 0, 0.3, 0.3, 0.9));
-    add(createPoseMarkerArray(pull_over_path.end_pose(), "pull_over_end_pose", 0, 0.3, 0.3, 0.9));
+    add(createPoseMarkerArray(
+      pull_over_path.modified_goal_pose(), "pull_over_end_pose", 0, 0.3, 0.3, 0.9));
     add(createPathMarkerArray(pull_over_path.full_path(), "full_path", 0, 0.0, 0.5, 0.9));
     add(createPathMarkerArray(pull_over_path.getCurrentPath(), "current_path", 0, 0.9, 0.5, 0.0));