feat(lanelet2_extension): add road empty warning

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
autowarefoundation · Jul 3, 2022 · 63190eb · 63190eb
1 parent 0a17fe3
commit 63190eb
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/map/lanelet2_extension/lib/visualization.cpp b/map/lanelet2_extension/lib/visualization.cpp
@@ -803,6 +803,11 @@ visualization_msgs::msg::MarkerArray visualization::generateLaneletIdMarker(
   const lanelet::ConstLanelets road_lanelets, const std_msgs::msg::ColorRGBA c, const double scale)
 {
   visualization_msgs::msg::MarkerArray markers;
+  if (road_lanelets.empty()) {
+    RCLCPP_WARN_STREAM(
+      rclcpp::get_logger("lanelet2_extension.query"),
+      "No road found in lanelet map. Thus vector map will not appear on Rviz.");
+  }
   for (const auto & ll : road_lanelets) {
     visualization_msgs::msg::Marker marker;
     marker.header.frame_id = "map";