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fix(behavior_path_planner): not rest modules when new route with same uuid is recived #3961

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merged 1 commit into from
Jun 13, 2023
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fix(behavior_path_planner): not rest modules when new route with same uuid is recived #3961

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6 changes: 5 additions & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1213,10 +1213,14 @@ void BehaviorPathPlannerNode::run()
// update route
const bool is_first_time = !(planner_data_->route_handler->isHandlerReady());
if (route_ptr) {
// uuid is not changed when rerouting with modified goal,
// in this case do not need to rest modules.
const bool has_same_route_id =
planner_data_->prev_route_id && route_ptr->uuid == planner_data_->prev_route_id;
planner_data_->route_handler->setRoute(*route_ptr);
// Reset behavior tree when new route is received,
// so that the each modules do not have to care about the "route jump".
if (!is_first_time) {
if (!is_first_time && !has_same_route_id) {
RCLCPP_DEBUG(get_logger(), "new route is received. reset behavior tree.");
#ifdef USE_OLD_ARCHITECTURE
bt_manager_->resetBehaviorTree();
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