feat(goal_planner): output velocity factor (autowarefoundation#9348)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
1222-takeshi · Nov 18, 2024 · 4cb6f10 · 4cb6f10
1 parent 09c0182
commit 4cb6f10
Showing 1 changed file with 3 additions and 0 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
@@ -135,6 +135,7 @@ GoalPlannerModule::GoalPlannerModule(
   }
 
   steering_factor_interface_.init(PlanningBehavior::GOAL_PLANNER);
+  velocity_factor_interface_.init(PlanningBehavior::GOAL_PLANNER);
 
   /**
    * NOTE: Add `universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);` to functions called
@@ -1468,6 +1469,8 @@ void GoalPlannerModule::postProcess()
 
   setStopReason(StopReason::GOAL_PLANNER, pull_over_path.full_path());
 
+  setVelocityFactor(pull_over_path.full_path());
+
   context_data_ = std::nullopt;
 }