fix(behavior_velocity_planner): fix getNearestLaneId() #1564
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Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
Codecov Report
@@ Coverage Diff @@
## main #1564 +/- ##
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- Coverage 10.73% 10.73% -0.01%
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Files 1115 1115
Lines 78831 78851 +20
Branches 18561 18577 +16
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Hits 8464 8464
- Misses 61507 61527 +20
Partials 8860 8860
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tkimura4
reviewed
Aug 10, 2022
| } | ||
| lanelet::ConstLanelets lanes; | ||
| for (const auto & point : path.points) { | ||
| lanes.push_back(lanelet_map->laneletLayer.get(point.lane_ids.at(0))); |
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lane_ids.front() do not necessarily contain all lane_ids, so all ids in lane_ids need to be pushed back.
7 tasks
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Close this PR because this change is included in #1594 |
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Signed-off-by: Fumiya Watanabe [email protected]
Description
Before this change, if the ego vehicle runs out from the lane, the behavior planning module is re-launched.
To fix this behavior, I fixed the logic to get nearest lane id as following:
Related links
Tests performed
Tested in planning_simulator
rtc-2022-08-10_19.39.54.mp4
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