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fix(avoidance): use getRightLanelet
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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  • planning/behavior_path_avoidance_module/src

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planning/behavior_path_avoidance_module/src/utils.cpp

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@@ -702,8 +702,8 @@ bool isNeverAvoidanceTarget(
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if (object.is_on_ego_lane) {
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if (
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!!planner_data->route_handler->getRoutingGraphPtr()->right(object.overhang_lanelet) &&
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!!planner_data->route_handler->getRoutingGraphPtr()->left(object.overhang_lanelet)) {
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planner_data->route_handler->getRightLanelet(object.overhang_lanelet).has_value() &&
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planner_data->route_handler->getLeftLanelet(object.overhang_lanelet).has_value()) {
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object.reason = AvoidanceDebugFactor::NOT_PARKING_OBJECT;
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RCLCPP_DEBUG(rclcpp::get_logger(__func__), "object isn't on the edge lane. never avoid it.");
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return true;

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