fix(static_avoidance): add optional check (#9782)

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
autowarefoundation · Dec 25, 2024 · aaad09f · aaad09f
1 parent 2465d07
commit aaad09f
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/...nner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp b/...nner/autoware_behavior_path_static_obstacle_avoidance_module/src/shift_line_generator.cpp
@@ -264,7 +264,9 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
   AvoidOutlines outlines;
   for (auto & o : data.target_objects) {
     if (!o.avoid_margin.has_value()) {
-      if (data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
+      if (
+        data.red_signal_lane.has_value() &&
+        data.red_signal_lane.value().id() == o.overhang_lanelet.id()) {
         o.info = ObjectInfo::LIMIT_DRIVABLE_SPACE_TEMPORARY;
       } else {
         o.info = ObjectInfo::INSUFFICIENT_DRIVABLE_SPACE;