fix(avoidance): turn signal doesn't turn on

satoshi-ota · satoshi-ota · commit 9d8982ef5e66 · 2024-01-26T18:05:29.000+09:00
Signed-off-by: satoshi-ota &lt;satoshi.ota928@gmail.com&gt;
diff --git a/planning/behavior_path_avoidance_module/src/utils.cpp b/planning/behavior_path_avoidance_module/src/utils.cpp
@@ -2278,11 +2278,11 @@ TurnSignalInfo calcTurnSignalInfo(
     return {};
   }
 
-  const auto left_lanelets = rh->getAllLeftSharedLinestringLanelets(lanelet, true, true);
-  const auto right_lanelets = rh->getAllRightSharedLinestringLanelets(lanelet, true, true);
+  const auto left_lane = rh->getLeftLanelet(lanelet, true, true);
+  const auto right_lane = rh->getRightLanelet(lanelet, true, true);
 
   if (!existShiftSideLane(
-        start_shift_length, end_shift_length, left_lanelets.empty(), right_lanelets.empty())) {
+        start_shift_length, end_shift_length, !left_lane.has_value(), !right_lane.has_value())) {
     return {};
   }
 

Original file line number	Diff line number	Diff line change
`@@ -2278,11 +2278,11 @@ TurnSignalInfo calcTurnSignalInfo(`
`2278`	`2278`	`return {};`
`2279`	`2279`	`}`
`2280`	`2280`
`2281`		`- const auto left_lanelets = rh->getAllLeftSharedLinestringLanelets(lanelet, true, true);`
`2282`		`- const auto right_lanelets = rh->getAllRightSharedLinestringLanelets(lanelet, true, true);`
	`2281`	`+ const auto left_lane = rh->getLeftLanelet(lanelet, true, true);`
	`2282`	`+ const auto right_lane = rh->getRightLanelet(lanelet, true, true);`
`2283`	`2283`
`2284`	`2284`	`if (!existShiftSideLane(`
`2285`		`- start_shift_length, end_shift_length, left_lanelets.empty(), right_lanelets.empty())) {`
	`2285`	`+ start_shift_length, end_shift_length, !left_lane.has_value(), !right_lane.has_value())) {`
`2286`	`2286`	`return {};`
`2287`	`2287`	`}`
`2288`	`2288`