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Merge branch 'beta/v0.19.1' into publish_control_mode_before_ego_pos
2 parents 44f32fe + 61ab202 commit fde35b7

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  • planning/obstacle_cruise_planner/src

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planning/obstacle_cruise_planner/src/node.cpp

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@@ -1181,6 +1181,14 @@ std::optional<SlowDownObstacle> ObstacleCruisePlannerNode::createSlowDownObstacl
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if (id == 0) {
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continue;
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}
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if (!route_handler_->getLaneletMapPtr()->polygonLayer.exists(id)) {
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RCLCPP_DEBUG(
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rclcpp::get_logger("ObstacleCruisePlanner"),
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"Specified Lanelet polygon id [%ld] is not exsit in the map", id);
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continue;
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}
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const auto intersection_poly =
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lanelet::utils::to2D(route_handler_->getLaneletMapPtr()->polygonLayer.get(id))
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.basicPolygon();

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