fix(behavior_path_planner): use odometry

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Jan 31, 2023 · 8f9311f · 8f9311f
1 parent 158776b
commit 8f9311f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp b/planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp
@@ -97,7 +97,7 @@ bool AvoidanceModule::isExecutionRequested() const
   const auto current_lanes = util::getCurrentLanes(planner_data_);
   lanelet::ConstLanelet current_lane;
   lanelet::utils::query::getClosestLanelet(
-    current_lanes, planner_data_->self_pose->pose, &current_lane);
+    current_lanes, planner_data_->self_odometry->pose.pose, &current_lane);
   const auto num = planner_data_->route_handler->getNumLaneToPreferredLane(current_lane);
 
   if (num != 0) {