fix: planner crash

Barış Zeren · Barış Zeren · commit 0833903dfec8 · 2024-08-26T14:15:55.000+03:00
Signed-off-by: Barış Zeren &lt;baris@leodrive.ai&gt;
diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -406,6 +406,9 @@ void BehaviorPathPlannerNode::run()
   if (map_ptr) {
     planner_data_->route_handler->setMap(
       *map_ptr, planner_data_->parameters.enable_differential_map_loading);
+    if (planner_data_->parameters.enable_differential_map_loading) {
+      planner_manager_->resetCurrentRouteLanelet(planner_data_);
+    }
   }
 
   std::unique_lock<std::mutex> lk_manager(mutex_manager_);  // for planner_manager_

Original file line number	Diff line number	Diff line change
`@@ -406,6 +406,9 @@ void BehaviorPathPlannerNode::run()`
`406`	`406`	`if (map_ptr) {`
`407`	`407`	`planner_data_->route_handler->setMap(`
`408`	`408`	`*map_ptr, planner_data_->parameters.enable_differential_map_loading);`
	`409`	`+ if (planner_data_->parameters.enable_differential_map_loading) {`
	`410`	`+ planner_manager_->resetCurrentRouteLanelet(planner_data_);`
	`411`	`+ }`
`409`	`412`	`}`
`410`	`413`
`411`	`414`	`std::unique_lock<std::mutex> lk_manager(mutex_manager_); // for planner_manager_`