From fdbe64a470eca3c016b69501ed7a76bcd574a53e Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Mon, 23 Oct 2023 17:28:47 +0900
Subject: [PATCH] refactor(start_planner): guard for invalid lane id (#5376)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../src/scene_module/start_planner/start_planner_module.cpp   | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
index 6b56c88eb942a..62f3dbfe191ac 100644
--- a/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
+++ b/planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
@@ -639,9 +639,7 @@ lanelet::ConstLanelets StartPlannerModule::getPathRoadLanes(const PathWithLaneId
   lanelet::ConstLanelets path_lanes;
   path_lanes.reserve(lane_ids.size());
   for (const auto & id : lane_ids) {
-    if (id != lanelet::InvalId) {
-      path_lanes.push_back(lanelet_layer.get(id));
-    }
+    path_lanes.push_back(lanelet_layer.get(id));
   }
 
   return path_lanes;