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feat: skip orientation unavailable objects
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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perception/detected_object_validation/src/object_lanelet_filter.cpp

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@@ -154,7 +154,10 @@ bool ObjectLaneletFilterNode::filterObject(
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}
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// 2. check if objects velocity is the same with the lanelet direction
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if (filter_settings_.lanelet_direction_filter) {
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const bool orientation_not_available =
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transformed_object.kinematics.orientation_availability ==
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autoware_auto_perception_msgs::msg::ObjectFeature::UNAVAILABLE;
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if (filter_settings_.lanelet_direction_filter && !orientation_not_available) {
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const bool is_same_direction =
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isSameDirectionWithLanelets(intersected_road_lanelets, transformed_object) ||
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isSameDirectionWithLanelets(intersected_shoulder_lanelets, transformed_object);

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