From 573722732a02e1c0ce536b0ba049e8794372913a Mon Sep 17 00:00:00 2001 From: Praveen Kumar Date: Tue, 9 Apr 2019 00:38:32 +0530 Subject: [PATCH] Added check for dangling edge with zero length path --- .../agents/navigation/global_route_planner.py | 21 ++++++++++--------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/PythonAPI/carla/agents/navigation/global_route_planner.py b/PythonAPI/carla/agents/navigation/global_route_planner.py index 22c314441..aef8ba32d 100644 --- a/PythonAPI/carla/agents/navigation/global_route_planner.py +++ b/PythonAPI/carla/agents/navigation/global_route_planner.py @@ -132,16 +132,17 @@ class GlobalRoutePlanner(object): next_wp[0].lane_id == lane_id: path.append(next_wp[0]) next_wp = next_wp[0].next(hop_resolution) - n2_xyz = (path[-1].transform.location.x, - path[-1].transform.location.y, - path[-1].transform.location.z) - self._graph.add_node(n2, vertex=n2_xyz) - self._graph.add_edge( - n1, n2, - length=len(path) + 1, path=path, - entry_waypoint=end_wp, exit_waypoint=path[-1], - entry_vector=None, exit_vector=None, net_vector=None, - intersection=end_wp.is_intersection, type=RoadOption.LANEFOLLOW) + if path: + n2_xyz = (path[-1].transform.location.x, + path[-1].transform.location.y, + path[-1].transform.location.z) + self._graph.add_node(n2, vertex=n2_xyz) + self._graph.add_edge( + n1, n2, + length=len(path) + 1, path=path, + entry_waypoint=end_wp, exit_waypoint=path[-1], + entry_vector=None, exit_vector=None, net_vector=None, + intersection=end_wp.is_intersection, type=RoadOption.LANEFOLLOW) def _localize(self, location): """