feat(start_planner): output velocity factor (autowarefoundation#9347)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
1222-takeshi · Nov 18, 2024 · 44d9a98 · 44d9a98
1 parent c5597ce
commit 44d9a98
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -98,6 +98,7 @@ StartPlannerModule::StartPlannerModule(
   }
 
   steering_factor_interface_.init(PlanningBehavior::START_PLANNER);
+  velocity_factor_interface_.init(PlanningBehavior::START_PLANNER);
 }
 
 void StartPlannerModule::onFreespacePlannerTimer()
@@ -738,6 +739,8 @@ BehaviorModuleOutput StartPlannerModule::plan()
 
   setDrivableAreaInfo(output);
 
+  setVelocityFactor(output.path);
+
   const auto steering_factor_direction = getSteeringFactorDirection(output);
 
   if (status_.driving_forward) {