fix(behavior_path_planner): fix behavior_path_planner node to check o…

…ccupancy_grid before running (#6752) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
autowarefoundation · Apr 8, 2024 · 1524bdd · 1524bdd
1 parent 52bc600
commit 1524bdd
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -312,6 +312,10 @@ bool BehaviorPathPlannerNode::isDataReady()
     return missing("operation_mode");
   }
 
+  if (!planner_data_->occupancy_grid) {
+    return missing("occupancy_grid");
+  }
+
   return true;
 }