Merge branch 'main' into replace-universe-utils-with-autoware-utils

mitsudome-r · web-flow · commit 2941bcf8a561 · 2025-02-26T22:18:02.000+09:00
diff --git a/.github/workflows/build-test-tidy-pr.yaml b/.github/workflows/build-test-tidy-pr.yaml
@@ -83,3 +83,4 @@ jobs:
       container: ghcr.io/autowarefoundation/autoware:universe-devel
       container-suffix: -cuda
       run-condition: ${{ needs.check-if-cuda-job-is-needed.outputs.cuda_job_is_needed == 'true' && needs.build-and-test-differential-cuda.result == 'success' }}
+      runner: codebuild-autoware-us-east-1-${{ github.run_id }}-${{ github.run_attempt }}-ubuntu-7.0-large
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/polygon_utils.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/src/polygon_utils.cpp
@@ -150,6 +150,7 @@ std::optional<std::pair<geometry_msgs::msg::Point, double>> get_collision_point(
       max_collision_point = poly_vertex.point;
     }
   }
+  if (!max_collision_point.has_value() || !max_collision_length.has_value()) return std::nullopt;
   return std::make_pair(
     *max_collision_point,
     autoware::motion_utils::calcSignedArcLength(traj_points, 0, collision_info.first) -

Original file line number	Diff line number	Diff line change
`@@ -150,6 +150,7 @@ std::optional<std::pair<geometry_msgs::msg::Point, double>> get_collision_point(`
`150`	`150`	`max_collision_point = poly_vertex.point;`
`151`	`151`	`}`
`152`	`152`	`}`
	`153`	`+ if (!max_collision_point.has_value() \|\| !max_collision_length.has_value()) return std::nullopt;`
`153`	`154`	`return std::make_pair(`
`154`	`155`	`*max_collision_point,`
`155`	`156`	`autoware::motion_utils::calcSignedArcLength(traj_points, 0, collision_info.first) -`