fix(obstacle_cruise_planner): use absolute value in lateraloffset to …

…filter on obstacles (#1083)

* use-absolute-value-in-lateraloffset-to-filter-on-Obstacles

Signed-off-by: jack.song <jack.song@autocore.ai>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

planning/obstacle_cruise_planner/src/node.cpp

@@ -533,7 +533,9 @@ std::vector<TargetObstacle> ObstacleCruisePlannerNode::filterObstacles(
     const double dist_from_obstacle_to_traj = [&]() {
       return tier4_autoware_utils::calcLateralOffset(decimated_traj.points, object_pose.position);
     }();
-    if (dist_from_obstacle_to_traj > obstacle_filtering_param_.rough_detection_area_expand_width) {
+    if (
+      std::fabs(dist_from_obstacle_to_traj) >
+      obstacle_filtering_param_.rough_detection_area_expand_width) {
       RCLCPP_INFO_EXPRESSION(
         get_logger(), is_showing_debug_info_,
         "Ignore obstacles since it is far from the trajectory.");