From 45079b54125e256ff6154360a2d9ec64a2c747b8 Mon Sep 17 00:00:00 2001
From: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Date: Fri, 27 Jan 2023 23:59:57 +0900
Subject: [PATCH] fix(costmap_generator): wait for lanelet map (#2765)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 .../nodes/costmap_generator/costmap_generator_node.cpp        | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp b/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp
index 6999cd54d57c2..473e0875609ea 100644
--- 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;