fix(map_based_prediction): fix unintentional accumulation of lanelets (…

…#9950) add clear before insert Signed-off-by: a-maumau <[email protected]>
autowarefoundation · Jan 17, 2025 · 7bc6a4e · 7bc6a4e
1 parent 08dd641
commit 7bc6a4e
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/perception/autoware_map_based_prediction/src/predictor_vru.cpp b/perception/autoware_map_based_prediction/src/predictor_vru.cpp
@@ -269,6 +269,7 @@ void PredictorVru::setLaneletMap(std::shared_ptr<lanelet::LaneletMap> lanelet_ma
   const auto all_lanelets = lanelet::utils::query::laneletLayer(lanelet_map_ptr_);
   const auto crosswalks = lanelet::utils::query::crosswalkLanelets(all_lanelets);
   const auto walkways = lanelet::utils::query::walkwayLanelets(all_lanelets);
+  crosswalks_.clear();
   crosswalks_.insert(crosswalks_.end(), crosswalks.begin(), crosswalks.end());
   crosswalks_.insert(crosswalks_.end(), walkways.begin(), walkways.end());