fix(behavior_velocity_crosswalk_module): check if p_safety_slow is em…

…pty (autowarefoundation#6104) * check if p_safety_slow is empty Signed-off-by: beyza <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: beyza <[email protected]> Co-authored-by: beyza <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Interplai · May 28, 2024 · e81a61c · e81a61c
1 parent c831fcf
commit e81a61c
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -813,7 +813,9 @@ void CrosswalkModule::applySafetySlowDownSpeed(
     const auto & p_safety_slow =
       calcLongitudinalOffsetPoint(ego_path.points, ego_pos, safety_slow_point_range);
 
-    insertDecelPointWithDebugInfo(p_safety_slow.value(), safety_slow_down_speed, output);
+    if (p_safety_slow.has_value()) {
+      insertDecelPointWithDebugInfo(p_safety_slow.value(), safety_slow_down_speed, output);
+    }
 
     if (safety_slow_point_range < 0.0) {
       passed_safety_slow_point_ = true;