fix(avoidance): use getRightLanelet

Signed-off-by: satoshi-ota <[email protected]>
autowarefoundation · Mar 17, 2024 · fee4a57 · fee4a57
1 parent 20564be
commit fee4a57
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -702,8 +702,8 @@ bool isNeverAvoidanceTarget(
 
   if (object.is_on_ego_lane) {
     if (
-      !!planner_data->route_handler->getRoutingGraphPtr()->right(object.overhang_lanelet) &&
-      !!planner_data->route_handler->getRoutingGraphPtr()->left(object.overhang_lanelet)) {
+      planner_data->route_handler->getRightLanelet(object.overhang_lanelet).has_value() &&
+      planner_data->route_handler->getLeftLanelet(object.overhang_lanelet).has_value()) {
       object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT;
       RCLCPP_DEBUG(rclcpp::get_logger(__func__), "object isn't on the edge lane. never avoid it.");
       return true;