fix(intersection): fixed bad optional access (autowarefoundation#3712) (

autowarefoundation#477) Signed-off-by: Mamoru Sobue <[email protected]>
kyoichi-sugahara · May 16, 2023 · e99f5d7 · e99f5d7
1 parent 9151264
commit e99f5d7
Showing 1 changed file with 4 additions and 1 deletion.
diff --git a/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp b/planning/behavior_velocity_planner/src/scene_module/intersection/scene_intersection.cpp
@@ -324,7 +324,10 @@ bool IntersectionModule::modifyPathVelocity(PathWithLaneId * path, StopReason *
       stop_line_idx = occlusion_first_stop_line_idx;
       // insert creep velocity [default_stop_line, occlusion_stop_line)
       insert_creep_during_occlusion =
-        std::make_pair(default_stop_line_idx_opt.value(), occlusion_peeking_line_idx_opt.value());
+        default_stop_line_idx_opt && occlusion_peeking_line_idx_opt
+          ? std::make_optional<std::pair<size_t, size_t>>(
+              default_stop_line_idx_opt.value(), occlusion_peeking_line_idx_opt.value())
+          : std::nullopt;
       occlusion_state_ = OcclusionState::BEFORE_FIRST_STOP_LINE;
     }
   } else if (occlusion_state_ != OcclusionState::CLEARED) {