From afac533308632d21a417930f15c1cfd1a68dbbd6 Mon Sep 17 00:00:00 2001
From: Tomoya Kimura <tomoya.kimura@tier4.jp>
Date: Fri, 9 Sep 2022 17:09:01 +0900
Subject: [PATCH] fix(crosswalk_traffic_light_estimator): fix invalid access
 (#1825)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
---
 perception/crosswalk_traffic_light_estimator/src/node.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/perception/crosswalk_traffic_light_estimator/src/node.cpp b/perception/crosswalk_traffic_light_estimator/src/node.cpp
index 4fafaa5de0a72..cf0870a5806cf 100644
--- a/perception/crosswalk_traffic_light_estimator/src/node.cpp
+++ b/perception/crosswalk_traffic_light_estimator/src/node.cpp
@@ -203,13 +203,15 @@ void CrosswalkTrafficLightEstimatorNode::updateLastDetectedSignal(
     last_detect_color_.at(id) = input_traffic_signal.second;
   }
 
+  std::vector<int32_t> erase_id_list;
   for (auto & last_traffic_signal : last_detect_color_) {
     const auto & id = last_traffic_signal.second.map_primitive_id;
 
     if (traffic_light_id_map.count(id) == 0) {
-      last_detect_color_.erase(id);
+      erase_id_list.emplace_back(id);
     }
   }
+  for (const auto id : erase_id_list) last_detect_color_.erase(id);
 }
 
 void CrosswalkTrafficLightEstimatorNode::setCrosswalkTrafficSignal(