@@ -506,7 +506,8 @@ bool isEgoOutOfRoute(
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bool is_failed_getting_lanelet;
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if (!common_param.enable_differential_map_loading ) {
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- is_failed_getting_lanelet = shoulder_goal_lanes.empty () && !route_handler->getGoalLanelet (&goal_lane);
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+ is_failed_getting_lanelet =
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+ shoulder_goal_lanes.empty () && !route_handler->getGoalLanelet (&goal_lane);
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} else {
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// If dynamic map is enabled, get the goal lanelet from the current lanelet map
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//
@@ -518,18 +519,18 @@ bool isEgoOutOfRoute(
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lanelet::ConstLanelets route_lanelets = route_handler->getRouteLanelets ();
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auto goalLaneletIt =
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- std::find_if (all_lanelets.rbegin (), all_lanelets.rend (), [&](const auto & currentLanelet) {
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- return currentLanelet.id () == route_lanelets.back ().id ();
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- });
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+ std::find_if (all_lanelets.rbegin (), all_lanelets.rend (), [&](const auto & currentLanelet) {
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+ return currentLanelet.id () == route_lanelets.back ().id ();
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+ });
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if (goalLaneletIt != all_lanelets.rend ()) {
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- RCLCPP_DEBUG (
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- rclcpp::get_logger (" behavior_path_planner" ).get_child (" util" ),
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- " Found goal lanelet in current lanelet map" );
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- goal_lane = *goalLaneletIt;
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- is_failed_getting_lanelet = false ;
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+ RCLCPP_DEBUG (
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+ rclcpp::get_logger (" behavior_path_planner" ).get_child (" util" ),
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+ " Found goal lanelet in current lanelet map" );
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+ goal_lane = *goalLaneletIt;
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+ is_failed_getting_lanelet = false ;
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}
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- is_failed_getting_lanelet = !route_handler->getGoalLanelet (&goal_lane);
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+ is_failed_getting_lanelet = !route_handler->getGoalLanelet (&goal_lane);
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}
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if (is_failed_getting_lanelet) {
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