fix(avoidance): turn signal doesn't turn on (#6188)

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Jan 27, 2024 · 02ba67f · 02ba67f
1 parent 01fdac0
commit 02ba67f
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -2278,11 +2278,11 @@ TurnSignalInfo calcTurnSignalInfo(
     return {};
   }
 
-  const auto left_lanelets = rh->getAllLeftSharedLinestringLanelets(lanelet, true, true);
-  const auto right_lanelets = rh->getAllRightSharedLinestringLanelets(lanelet, true, true);
+  const auto left_lane = rh->getLeftLanelet(lanelet, true, true);
+  const auto right_lane = rh->getRightLanelet(lanelet, true, true);
 
   if (!existShiftSideLane(
-        start_shift_length, end_shift_length, left_lanelets.empty(), right_lanelets.empty())) {
+        start_shift_length, end_shift_length, !left_lane.has_value(), !right_lane.has_value())) {
     return {};
   }