From d2cd9132e510a18bc628586a89efcf184468bef5 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Thu, 12 Oct 2023 22:29:23 +0900
Subject: [PATCH] fix(goal_planner): disable freespace pull over after arriving
 modified goal

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../src/scene_module/goal_planner/goal_planner_module.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
index 9c2544cf60cec..c6e68f8e81af7 100644
--- a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -218,6 +218,10 @@ void GoalPlannerModule::onFreespaceParkingTimer()
     return;
   }
 
+  if (isOnModifiedGoal()) {
+    return;
+  }
+
   const bool is_new_costmap =
     (clock_->now() - planner_data_->costmap->header.stamp).seconds() < 1.0;
   constexpr double path_update_duration = 1.0;
@@ -1210,6 +1214,10 @@ bool GoalPlannerModule::isStopped()
 
 bool GoalPlannerModule::isStuck()
 {
+  if (isOnModifiedGoal()) {
+    return false;
+  }
+
   constexpr double stuck_time = 5.0;
   if (!isStopped(odometry_buffer_stuck_, stuck_time)) {
     return false;