Naive-L-Shape fitting wrong assertion

Required information:

• Operating system and version:
  • Ubuntu 18.04
• Autoware installation type:
  • Source
• Autoware version or commit hash
  • 1.12.0
• ROS distribution and version:
  • Melodic
• ROS installation type:
  • From original repos
• Package or library, if applicable:
  • lidar_naive_l_shape_detect

Description of the bug

When I feed it with detections from euclidean clustering, it gives the following error.

lidar_naive_l_shape_detect: /---/src/autoware/core_perception/lidar_naive_l_shape_detect/nodes/lidar_naive_l_shape_detect/lidar_naive_l_shape_detect.cpp:274: void LShapeFilter::getLShapeBB(const DetectedObjectArray&, autoware_msgs::DetectedObjectArray&): Assertion `p_ind >= 0 && p_ind < (cloud.size() - 1)' failed.

Why it is happening and how to fix it

https://gitlab.com/autowarefoundation/autoware.ai/core_perception/blob/master/lidar_naive_l_shape_detect/nodes/lidar_naive_l_shape_detect/lidar_naive_l_shape_detect.cpp#L274

The line is like this:

assert(p_ind >= 0 && p_ind < (cloud.size() - 1));

And it should be one of the following instead:

assert(p_ind >= 0 && p_ind < cloud.size());

OR

assert(p_ind >= 0 && p_ind <= (cloud.size() - 1));

Otherwise the random number generated for the index will be within the acceptable limits yet will trigger the assertion error and crash.