fix(behavior_path_planner): fix expandLanelets for drivable lanes (#2337

) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
autowarefoundation · Nov 21, 2022 · 16602f6 · 16602f6
1 parent bf04632
commit 16602f6
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/utilities.cpp b/planning/behavior_path_planner/src/utilities.cpp
@@ -1829,11 +1829,11 @@ std::vector<DrivableLanes> expandLanelets(
       expanded_lanes.left_lane =
         lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, r_offset);
       expanded_lanes.right_lane =
-        lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, r_offset);
+        lanelet::utils::getExpandedLanelet(lanes.right_lane, l_offset, r_offset);
     } else {
       expanded_lanes.left_lane = lanelet::utils::getExpandedLanelet(lanes.left_lane, l_offset, 0.0);
       expanded_lanes.right_lane =
-        lanelet::utils::getExpandedLanelet(lanes.left_lane, 0.0, r_offset);
+        lanelet::utils::getExpandedLanelet(lanes.right_lane, 0.0, r_offset);
     }
     expanded_lanes.middle_lanes = lanes.middle_lanes;
     expanded_drivable_lanes.push_back(expanded_lanes);