fix(avoidance): fix dying with empty lanes (autowarefoundation#4606)

Signed-off-by: kosuke55 <[email protected]>
kminoda · Aug 21, 2023 · 799a3b2 · 799a3b2
1 parent 72647d7
commit 799a3b2
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/src/utils/avoidance/utils.cpp b/planning/behavior_path_planner/src/utils/avoidance/utils.cpp
@@ -855,6 +855,10 @@ void filterTargetObjects(
   using lanelet::geometry::toArcCoordinates;
   using lanelet::utils::to2D;
 
+  if (data.current_lanelets.empty()) {
+    return;
+  }
+
   const auto & rh = planner_data->route_handler;
   const auto & path_points = data.reference_path_rough.points;
   const auto & ego_pos = planner_data->self_odometry->pose.pose.position;