fix(goal_planner): search closest lanelet without constraints if closest lanelet is not found with constraints #3561
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…est lanelet is not found with constraints Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3561 +/- ##
==========================================
+ Coverage 14.07% 14.10% +0.02%
==========================================
Files 1398 1398
Lines 97963 97965 +2
Branches 29085 29087 +2
==========================================
+ Hits 13789 13817 +28
+ Misses 69501 69453 -48
- Partials 14673 14695 +22
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…est lanelet is not found with constraints (autowarefoundation#3561) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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…est lanelet is not found with constraints (autowarefoundation#3561) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: Mingyu Li <mingyu.li@tier4.jp>
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Description
Currently, the goal_planner return nullptr when it fails closest lanelet searching with constraints. This causes segmentation fault in post process on new manager.
In this PR, the module searches closest lanelet without constraints if closest lanelet is not found with constraints.
Tests performed
Psim
Effects on system behavior
Psim
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