fix(costmap_generator): wait for lanelet map (#2765)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Jan 27, 2023 · 45079b5 · 45079b5
1 parent 28f6c1f
commit 45079b5
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp b/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
@@ -334,6 +334,10 @@ void CostmapGenerator::onTimer()
 
 bool CostmapGenerator::isActive()
 {
+  if (!lanelet_map_) {
+    return false;
+  }
+
   if (activate_by_scenario_) {
     if (scenario_) {
       const auto & s = scenario_->activating_scenarios;