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fix(behavior_path_planner): die when using getExtendedCurrentLanes in the last lane #2256

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merged 1 commit into from
Nov 9, 2022
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fix(behavior_path_planner): die when using getExtendedCurrentLanes in the last lane #2256

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fix(behavior_path_planner): die when using getExtendedCurrentLanes in… 
… the last lane

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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@kosuke55
kosuke55 committed Nov 9, 2022
commit 9277fc3370ce2ed6083a8886968d2212927cb408
8 changes: 6 additions & 2 deletions planning/behavior_path_planner/src/utilities.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2030,11 +2030,15 @@ lanelet::ConstLanelets getExtendedCurrentLanes(

// Add next lane
const auto next_lanes = route_handler->getNextLanelets(current_lanes.back());
current_lanes.push_back(next_lanes.front());
if (!next_lanes.empty()) {
current_lanes.push_back(next_lanes.front());
}

// Add previous lane
const auto prev_lanes = route_handler->getPreviousLanelets(current_lanes.front());
current_lanes.insert(current_lanes.begin(), prev_lanes.front());
if (!prev_lanes.empty()) {
current_lanes.insert(current_lanes.begin(), prev_lanes.front());
}

return current_lanes;
}
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