fix(avoidance): align execution request condition

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Oct 11, 2023 · f0b5b40 · f0b5b40
1 parent 3a8ff49
commit f0b5b40
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -171,7 +171,10 @@ bool AvoidanceModule::isExecutionRequested() const
     return false;
   }
 
-  return !avoid_data_.target_objects.empty();
+  return std::any_of(
+    avoid_data_.target_objects.begin(), avoid_data_.target_objects.end(), [](const auto & o) {
+      return o.is_avoidable || o.reason == AvoidanceDebugFactor::TOO_LARGE_JERK;
+    });
 }
 
 bool AvoidanceModule::isExecutionReady() const