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fix(motion_velocity_planner_common): suppress maybe-uninitialized warning on NVIDIA DRIVE AGX Thor#877

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veqcc merged 2 commits intoautowarefoundation:mainfrom
veqcc:fix/maybe-uninitialized-on-aarch64
Mar 6, 2026
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fix(motion_velocity_planner_common): suppress maybe-uninitialized warning on NVIDIA DRIVE AGX Thor#877
veqcc merged 2 commits intoautowarefoundation:mainfrom
veqcc:fix/maybe-uninitialized-on-aarch64

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@veqcc veqcc commented Mar 3, 2026 •
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Description

Suppressed maybe-uninitialized warnings.
This error is happening inside boost libraries, which means we cannot avoid the error by explicitly initializing variables.

The whole error message on NVIDIA DRIVE AGX Thor devkit looks as follows:

--- stderr: autoware_motion_velocity_planner_common                                 
In lambda function,
    inlined from ‘_Funct std::for_each(_IIter, _IIter, _Funct) [with _IIter = __gnu_cxx::__normal_iterator<const boost::geometry::model::polygon<autoware_utils_geometry::Point2d>*, vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > > >; _Funct = autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)::<lambda(const autoware::motion_velocity_planner::Polygon2d&)>]’ at /usr/include/c++/13/bits/stl_algo.h:3833:5,
    inlined from ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’ at /home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:157:16:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:163:34: error: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_min_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[0]’ may be used uninitialized [-Werror=maybe-uninitialized]
  163 |       rtree.query(bgi::intersects(bbox), std::back_inserter(result_s));
      |                   ~~~~~~~~~~~~~~~^~~~~~
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp: In function ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:159:36: note: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_min_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[0]’ was declared here
  159 |       bg::model::box<BoostPoint2D> bbox;
      |                                    ^~~~
In lambda function,
    inlined from ‘_Funct std::for_each(_IIter, _IIter, _Funct) [with _IIter = __gnu_cxx::__normal_iterator<const boost::geometry::model::polygon<autoware_utils_geometry::Point2d>*, vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > > >; _Funct = autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)::<lambda(const autoware::motion_velocity_planner::Polygon2d&)>]’ at /usr/include/c++/13/bits/stl_algo.h:3833:5,
    inlined from ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’ at /home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:157:16:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:163:34: error: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_min_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[1]’ may be used uninitialized [-Werror=maybe-uninitialized]
  163 |       rtree.query(bgi::intersects(bbox), std::back_inserter(result_s));
      |                   ~~~~~~~~~~~~~~~^~~~~~
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp: In function ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:159:36: note: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_min_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[1]’ was declared here
  159 |       bg::model::box<BoostPoint2D> bbox;
      |                                    ^~~~
In lambda function,
    inlined from ‘_Funct std::for_each(_IIter, _IIter, _Funct) [with _IIter = __gnu_cxx::__normal_iterator<const boost::geometry::model::polygon<autoware_utils_geometry::Point2d>*, vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > > >; _Funct = autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)::<lambda(const autoware::motion_velocity_planner::Polygon2d&)>]’ at /usr/include/c++/13/bits/stl_algo.h:3833:5,
    inlined from ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’ at /home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:157:16:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:163:34: error: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_max_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[0]’ may be used uninitialized [-Werror=maybe-uninitialized]
  163 |       rtree.query(bgi::intersects(bbox), std::back_inserter(result_s));
      |                   ~~~~~~~~~~~~~~~^~~~~~
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp: In function ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:159:36: note: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_max_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[0]’ was declared here
  159 |       bg::model::box<BoostPoint2D> bbox;
      |                                    ^~~~
In lambda function,
    inlined from ‘_Funct std::for_each(_IIter, _IIter, _Funct) [with _IIter = __gnu_cxx::__normal_iterator<const boost::geometry::model::polygon<autoware_utils_geometry::Point2d>*, vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > > >; _Funct = autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)::<lambda(const autoware::motion_velocity_planner::Polygon2d&)>]’ at /usr/include/c++/13/bits/stl_algo.h:3833:5,
    inlined from ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’ at /home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:157:16:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:163:34: error: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_max_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[1]’ may be used uninitialized [-Werror=maybe-uninitialized]
  163 |       rtree.query(bgi::intersects(bbox), std::back_inserter(result_s));
      |                   ~~~~~~~~~~~~~~~^~~~~~
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp: In function ‘pcl::PointCloud<pcl::PointXYZ>::Ptr autoware::motion_velocity_planner::filter_by_multi_trajectory_polygon(const pcl::PointCloud<pcl::PointXYZ>::Ptr&, const std::vector<boost::geometry::model::polygon<autoware_utils_geometry::Point2d>, std::allocator<boost::geometry::model::polygon<autoware_utils_geometry::Point2d> > >&)’:
/home/autoware/autoware/src/core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:159:36: note: ‘bbox.boost::geometry::model::box<boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian> >::m_max_corner.boost::geometry::model::point<double, 2, boost::geometry::cs::cartesian>::m_values[1]’ was declared here
  159 |       bg::model::box<BoostPoint2D> bbox;
      |                                    ^~~~
cc1plus: all warnings being treated as errors
gmake[2]: *** [CMakeFiles/autoware_motion_velocity_planner_common_lib.dir/build.make:90: CMakeFiles/autoware_motion_velocity_planner_common_lib.dir/src/planner_data.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:157: CMakeFiles/autoware_motion_velocity_planner_common_lib.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< autoware_motion_velocity_planner_common [15.9s, exited with code 2]

Related links

Parent Issue:

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How was this PR tested?

I have confirmed that the build success on Thor.

Notes for reviewers

The compiler version is

$ g++ --version
g++ (Ubuntu 13.3.0-6ubuntu2~24.04) 13.3.0

Interface changes

None.

Effects on system behavior

None.

@veqcc
fix(motion_velocity_planner_common): suppress maybe-uninitialized war…
e42d256 
…ning on NVIDIA DRIVE AGX Thor

Signed-off-by: Ryuta Kambe <ryuta.kambe@tier4.jp>
@veqcc veqcc self-assigned this Mar 3, 2026
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github-actions bot commented Mar 3, 2026 •
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Thank you for contributing to the Autoware project!

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Please ensure:

@veqcc veqcc added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 3, 2026
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codecov bot commented Mar 3, 2026 •
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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 50.13%. Comparing base (fd7f25b) to head (15e3be5).
⚠️ Report is 1 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main     #877      +/-   ##
==========================================
- Coverage   50.43%   50.13%   -0.30%     
==========================================
  Files         372      354      -18     
  Lines       23141    22481     -660     
  Branches    10264     9926     -338     
==========================================
- Hits        11671    11271     -400     
+ Misses      10349    10143     -206     
+ Partials     1121     1067      -54
Flag Coverage Δ *Carryforward flag
daily-humble 50.65% <ø> (-0.08%) ⬇️ Carriedforward from 184b136
daily-jazzy 50.09% <ø> (-0.13%) ⬇️ Carriedforward from 184b136
differential-humble 9.89% <ø> (?)
differential-jazzy 9.91% <ø> (?)
total 50.38% <ø> (+<0.01%) ⬆️ Carriedforward from 184b136
total-humble 50.63% <ø> (+0.05%) ⬆️ Carriedforward from 184b136
total-jazzy 50.10% <ø> (+0.03%) ⬆️ Carriedforward from 184b136

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

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@veqcc veqcc removed the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 3, 2026
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soblin commented Mar 3, 2026

@veqcc BTW, what's the compiler version ?

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veqcc commented Mar 3, 2026

@soblin

what's the compiler version ?

It's 13.3, which I think is the default version on Ubuntu 24.04.

$ g++ --version
g++ (Ubuntu 13.3.0-6ubuntu2~24.04) 13.3.0

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veqcc commented Mar 3, 2026

I am sorry that we have to wait the following two PRs to be merged in order to pass GitHub CIs.

@veqcc veqcc added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 6, 2026
@veqcc veqcc merged commit 81fa0f2 into autowarefoundation:main Mar 6, 2026
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veqcc commented Mar 6, 2026

Although the clang-tidy CI raises errors here, this is not related to the current changes and I will merge it.

clang-tidy-18 -export-fixes /tmp/tmposfh1qej/tmppkeajb90.yaml -p=build/ /__w/autoware_core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/test/test_collision_checker.cpp
clang-tidy-18 -export-fixes /tmp/tmposfh1qej/tmpz6n27tvk.yaml -p=build/ /__w/autoware_core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp
/__w/autoware_core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:309:11: error: unchecked access to optional value [bugprone-unchecked-optional-access,-warnings-as-errors]
  309 |   return *lon_vel_relative_to_traj;
      |           ^
/__w/autoware_core/autoware_core/planning/motion_velocity_planner/autoware_motion_velocity_planner_common/src/planner_data.cpp:318:11: error: unchecked access to optional value [bugprone-unchecked-optional-access,-warnings-as-errors]
  318 |   return *lat_vel_relative_to_traj;
      |           ^

@veqcc veqcc deleted the fix/maybe-uninitialized-on-aarch64 branch March 6, 2026 00:38
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@soblin soblin soblin approved these changes

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@mkquda mkquda Awaiting requested review from mkquda mkquda is a code owner

@takayuki5168 takayuki5168 Awaiting requested review from takayuki5168 takayuki5168 is a code owner

@yuki-takagi-66 yuki-takagi-66 Awaiting requested review from yuki-takagi-66 yuki-takagi-66 is a code owner

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