fix(behavior_path_planner): add empty guard to combinePath

[kosuke55]

Description

add empty guard to combinePath

fix freespace pull out dying

(gdb) p path2.points
$4 = std::vector of length 0, capacity 0
(gdb) f 15
#15 0x00007f5c9b673d94 in behavior_path_planner::FreespacePullOut::plan (this=<optimized out>, start_pose=..., end_pose=...) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/utils/start_planner/freespace_pull_out.cpp:100
100         start_planner_utils::combineReferencePath(last_path, road_center_line_path),
(gdb) f 14
#14 behavior_path_planner::start_planner_utils::combineReferencePath (path1=..., path2=...) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/utils/start_planner/util.cpp:47
47        path.points.insert(path.points.end(), next(path2.points.begin()), path2.points.end());
(gdb) l
42      {
43        PathWithLaneId path;
44        path.points.insert(path.points.end(), path1.points.begin(), path1.points.end());
45
46        // skip overlapping point
47        path.points.insert(path.points.end(), next(path2.points.begin()), path2.points.end());
48
49        PathWithLaneId filtered_path = path;
50        filtered_path.points = motion_utils::removeOverlapPoints(filtered_path.points);
51        return filtered_path;
(gdb) f 15
#15 0x00007f5c9b673d94 in behavior_path_planner::FreespacePullOut::plan (this=<optimized out>, start_pose=..., end_pose=...) at /home/kosuke55/pilot-auto/src/autoware/universe/planning/behavior_path_planner/src/utils/start_planner/freespace_pull_out.cpp:100
100         start_planner_utils::combineReferencePath(last_path, road_center_line_path),
(gdb) p road_center_line_path
$5 = {header = {stamp = {sec = 0, nanosec = 0}, frame_id = ""}, points = std::vector of length 0, capacity 0, left_bound = std::vector of length 0, capacity 0, right_bound = std::vector of length 0, capacity 0}

Related links

none

Tests performed

2023/09/27 https://evaluation.tier4.jp/evaluation/reports/1165d183-1910-5451-a816-41d1da57d444/?project_id=prd_jt

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[kyoichi-sugahara]

LGTM!

[codecov]

Codecov Report

Attention: 18 lines in your changes are missing coverage. Please review.

Comparison is base (68ee0f2) 14.89% compared to head (9bcf86a) 14.89%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5147   +/-   ##
=======================================
  Coverage   14.89%   14.89%           
=======================================
  Files        1625     1625           
  Lines      112470   112458   -12     
  Branches    34712    34713    +1     
=======================================
  Hits        16750    16750           
+ Misses      76981    76968   -13     
- Partials    18739    18740    +1     

Flag	Coverage Δ		*Carryforward flag
differential	12.61% <0.00%> (?)
total	14.89% <ø> (+<0.01%)	⬆️	Carriedforward from 68ee0f2

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
.../include/behavior_path_planner/planner_manager.hpp	19.76% <ø> (ø)
...avior_path_planner/src/utils/goal_planner/util.cpp	7.24% <ø> (+0.48%)	⬆️
...planner/src/utils/start_planner/shift_pull_out.cpp	2.51% <ø> (ø)
...vior_path_planner/src/utils/start_planner/util.cpp	0.00% <ø> (ø)
...tem/system_monitor/src/ntp_monitor/ntp_monitor.cpp	0.00% <ø> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	4.55% <0.00%> (ø)
...avior_path_planner/src/utils/lane_change/utils.cpp	0.45% <0.00%> (+<0.01%)	⬆️
...ner/src/utils/start_planner/freespace_pull_out.cpp	14.28% <0.00%> (+0.28%)	⬆️
...ner/src/utils/start_planner/geometric_pull_out.cpp	8.10% <0.00%> (ø)
...ning/behavior_path_planner/src/planner_manager.cpp	16.56% <0.00%> (-0.15%)	⬇️
... and 1 more

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