From a8af792afe9855f85baef274a701617ce972fbe2 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 19 Mar 2025 19:28:08 +0900 Subject: [PATCH] fix(safety_check): set safety condition properly Signed-off-by: satoshi-ota --- .../src/utils/path_safety_checker/safety_check.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp index 4526a81637687..1be955bedcec6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp @@ -881,6 +881,8 @@ autoware_internal_planning_msgs::msg::SafetyFactorArray to_safety_factor_array( const CollisionCheckDebugMap & debug_map) { autoware_internal_planning_msgs::msg::SafetyFactorArray safety_factors; + safety_factors.is_safe = std::all_of( + debug_map.begin(), debug_map.end(), [](const auto & result) { return result.second.is_safe; }); for (const auto & [uuid, data] : debug_map) { autoware_internal_planning_msgs::msg::SafetyFactor safety_factor; safety_factor.type = autoware_internal_planning_msgs::msg::SafetyFactor::OBJECT;