From 5a76057f094782538de1191b388a8e3fff3323b9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Wed, 25 Oct 2023 17:51:11 +0900 Subject: [PATCH] fix(behavior_path_planner): add guard to extend lane (#5406) Signed-off-by: kosuke55 --- planning/behavior_path_planner/src/utils/utils.cpp | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/planning/behavior_path_planner/src/utils/utils.cpp b/planning/behavior_path_planner/src/utils/utils.cpp index 35dd7675ae3fc..6e6198e30b13c 100644 --- a/planning/behavior_path_planner/src/utils/utils.cpp +++ b/planning/behavior_path_planner/src/utils/utils.cpp @@ -3104,6 +3104,8 @@ lanelet::ConstLanelets getCurrentLanesFromPath( lanelet::ConstLanelets extendNextLane( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes) { + if (lanes.empty()) return lanes; + auto extended_lanes = lanes; // Add next lane @@ -3125,6 +3127,8 @@ lanelet::ConstLanelets extendNextLane( lanelet::ConstLanelets extendPrevLane( const std::shared_ptr route_handler, const lanelet::ConstLanelets & lanes) { + if (lanes.empty()) return lanes; + auto extended_lanes = lanes; // Add previous lane