feat(behavior_velocity_traffic_light): don't use the time to red if i…

…t is unavailable

Signed-off-by: Tomohito Ando <[email protected]>

planning/behavior_velocity_planner/src/node.cpp

@@ -344,6 +344,11 @@ void BehaviorVelocityPlannerNode::onTrafficSignalsRawV2I(
   std::lock_guard<std::mutex> lock(mutex_);
 
   for (const auto & car_light : msg->car_lights) {
+    // If the time to red is not available, skip it
+    if (!car_light.has_max_rest_time || !car_light.has_min_rest_time) {
+      continue;
+    }
+
     for (const auto & state : car_light.states) {
       TrafficSignalTimeToRedStamped time_to_red;
       time_to_red.stamp = msg->header.stamp;