fgg

Signed-off-by: beyza <[email protected]>
autowarefoundation · Sep 3, 2024 · f370eef · f370eef
1 parent 8965419
commit f370eef
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -466,8 +466,7 @@ void BehaviorPathPlannerNode::run()
         planner_data_->parameters.input_path_interval);
     if(planner_data_->parameters.check_bidirectional_lane){
       for ([[maybe_unused]]const auto & current_lanelet : current_lanelets) {
-        bound_to_centerline = lanelet::geometry::distance2d(lanelet::utils::to2D(current_lanelet.leftBound().basicLineString()),
-                                                            lanelet::utils::to2D(current_lanelet.centerline().basicLineString()));
+        bound_to_centerline = 1.0;
       }
       if (planner_data_->parameters.traffic_flow == "right_side") {
 //        path->points = shiftPath(*path, bound_to_centerline * 0.5).points;