fix(avoidance): fix dying with empty lanes

[kosuke55]

Description

fix avoidance_by_lc dying with empty lanes.

(gdb) bt
#0  lanelet::ConstPrimitive<lanelet::LaneletData>::id (this=0xffffffffffffffe8) at /usr/include/c++/11/bits/shared_ptr_base.h:1295
#1  route_handler::RouteHandler::isInGoalRouteSection (this=0x7f462005cf70, lanelet=...) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/route_handler/src/route_handler.cpp:474
#2  0x00007f464758a8b4 in behavior_path_planner::utils::avoidance::filterTargetObjects (objects=std::vector of length 0, capacity 0, data=..., debug=..., planner_data=std::shared_ptr<const behavior_path_planner::PlannerData> (use count 16, weak count 0) = {...},
    parameters=std::shared_ptr<behavior_path_planner::AvoidanceParameters> (use count 4, weak count 0) = {...}) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/utils/avoidance/utils.cpp:866
#3  0x00007f46474d6544 in behavior_path_planner::AvoidanceByLaneChange::fillAvoidanceTargetObjects (this=0x7f45dc0fd000, data=..., debug=...) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp:172
#4  0x00007f46474d68df in behavior_path_planner::AvoidanceByLaneChange::calcAvoidancePlanningData (this=0x7f45dc0fd000, debug=...) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp:128
#5  0x00007f46474d69c0 in behavior_path_planner::AvoidanceByLaneChange::updateSpecialData (this=0x7f45dc0fd000) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp:92
#6  0x00007f4647341fa2 in behavior_path_planner::SceneModuleManagerInterface::isExecutionRequested (this=0x7f46202eb230, previous_module_output=...) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_manager_interface.hpp:91
#7  0x00007f464733326a in behavior_path_planner::PlannerManager::getRequestModules (this=0x7f46200b7950, previous_module_output=...) at /usr/include/c++/11/bits/shared_ptr_base.h:1295
#8  0x00007f46473380a6 in operator() (__closure=0x7f4647ff58e0) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/planner_manager.cpp:91
#9  0x00007f4647338bbb in behavior_path_planner::PlannerManager::run (this=this@entry=0x7f46200b7950, data=std::shared_ptr<behavior_path_planner::PlannerData> (use count 16, weak count 0) = {...}) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/planner_manager.cpp:51
#10 0x00007f464736901e in behavior_path_planner::BehaviorPathPlannerNode::run (this=0x7f462004aed0) at /usr/include/c++/11/bits/shared_ptr_base.h:1295
#11 0x00007f464736dd25 in std::__invoke_impl<void, void (behavior_path_planner::BehaviorPathPlannerNode::*&)(), behavior_path_planner::BehaviorPathPlannerNode*&> (__t=@0x7f46203210d0: 0x7f462004aed0,
    __f=@0x7f46203210c0: (void (behavior_path_planner::BehaviorPathPlannerNode::*)(behavior_path_planner::BehaviorPathPlannerNode * const)) 0x7f4647368bf0 <behavior_path_planner::BehaviorPathPlannerNode::run()>) at /usr/include/c++/11/bits/invoke.h:71
#12 std::__invoke<void (behavior_path_planner::BehaviorPathPlannerNode::*&)(), behavior_path_planner::BehaviorPathPlannerNode*&> (
    __fn=@0x7f46203210c0: (void (behavior_path_planner::BehaviorPathPlannerNode::*)(behavior_path_planner::BehaviorPathPlannerNode * const)) 0x7f4647368bf0 <behavior_path_planner::BehaviorPathPlannerNode::run()>) at /usr/include/c++/11/bits/invoke.h:96
#13 std::_Bind<void (behavior_path_planner::BehaviorPathPlannerNode::*(behavior_path_planner::BehaviorPathPlannerNode*))()>::__call<void, , 0ul>(std::tuple<>&&, std::_Index_tuple<0ul>) (__args=..., this=0x7f46203210c0) at /usr/include/c++/11/functional:420
#14 std::_Bind<void (behavior_path_planner::BehaviorPathPlannerNode::*(behavior_path_planner::BehaviorPathPlannerNode*))()>::operator()<, void>() (this=0x7f46203210c0) at /usr/include/c++/11/functional:503
#15 rclcpp::GenericTimer<std::_Bind<void (behavior_path_planner::BehaviorPathPlannerNode::*(behavior_path_planner::BehaviorPathPlannerNode*))()>, (void*)0>::execute_callback_delegate<std::_Bind<void (behavior_path_planner::BehaviorPathPlannerNode::*(behavior_path_planner::BehaviorPathPlannerNode*))()>, (void*)0>() (
    this=0x7f4620321090) at /opt/ros/humble/include/rclcpp/rclcpp/timer.hpp:244
#16 rclcpp::GenericTimer<std::_Bind<void (behavior_path_planner::BehaviorPathPlannerNode::*(behavior_path_planner::BehaviorPathPlannerNode*))()>, (void*)0>::execute_callback() (this=0x7f4620321090) at /opt/ros/humble/include/rclcpp/rclcpp/timer.hpp:230
#17 0x00007f46678dade1 in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&) () from /opt/ros/humble/lib/librclcpp.so
#18 0x00007f46678e209a in rclcpp::executors::MultiThreadedExecutor::run(unsigned long) () from /opt/ros/humble/lib/librclcpp.so
#19 0x00007f46674dc253 in ?? () from /lib/x86_64-linux-gnu/libstdc++.so.6
#20 0x00007f4667094b43 in start_thread (arg=<optimized out>) at ./nptl/pthread_create.c:442
#21 0x00007f4667126a00 in clone3 () at ../sysdeps/unix/sysv/linux/x86_64/clone3.S:81
(gdb) f 2
#2  0x00007f464758a8b4 in behavior_path_planner::utils::avoidance::filterTargetObjects (objects=std::vector of length 0, capacity 0, data=..., debug=..., planner_data=std::shared_ptr<const behavior_path_planner::PlannerData> (use count 16, weak count 0) = {...},
    parameters=std::shared_ptr<behavior_path_planner::AvoidanceParameters> (use count 4, weak count 0) = {...}) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/utils/avoidance/utils.cpp:866
866       const auto dist_to_goal = rh->isInGoalRouteSection(data.current_lanelets.back())
(gdb) p data.current_lanelets
$9 = std::vector of length 0, capacity 0

Related links

Tests performed

psim

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.03% ⚠️

Comparison is base (58d8e8e) 14.83% compared to head (9e8436d) 14.80%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4606      +/-   ##
==========================================
- Coverage   14.83%   14.80%   -0.03%     
==========================================
  Files        1529     1529              
  Lines      105799   105716      -83     
  Branches    32240    32202      -38     
==========================================
- Hits        15698    15655      -43     
+ Misses      72943    72936       -7     
+ Partials    17158    17125      -33     

Flag	Coverage Δ		*Carryforward flag
differential	13.07% <0.00%> (?)
total	14.80% <ø> (-0.03%)	⬇️	Carriedforward from 58d8e8e

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
...ehavior_path_planner/src/utils/avoidance/utils.cpp	6.54% <0.00%> (-0.02%)	⬇️
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	85.71% <ø> (ø)
...cle_avoidance_planner/state_equation_generator.hpp	100.00% <ø> (ø)
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	39.71% <ø> (-0.29%)	⬇️
...avoidance_planner/src/state_equation_generator.cpp	54.54% <ø> (-14.43%)	⬇️

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