From 5872f9c5da841de209ff1f0d89ba7095e076c339 Mon Sep 17 00:00:00 2001
From: Junya Sasaki <j2sasaki1990@gmail.com>
Date: Sat, 8 Mar 2025 20:39:28 +0900
Subject: [PATCH] Update planning/autoware_path_generator/src/utils.cpp

Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
---
 planning/autoware_path_generator/src/utils.cpp | 12 +-----------
 1 file changed, 1 insertion(+), 11 deletions(-)

diff --git a/planning/autoware_path_generator/src/utils.cpp b/planning/autoware_path_generator/src/utils.cpp
index d6594870d..ad85febd7 100644
--- a/planning/autoware_path_generator/src/utils.cpp
+++ b/planning/autoware_path_generator/src/utils.cpp
@@ -442,18 +442,8 @@ PathWithLaneId modify_path_for_smooth_goal_connection(
 {
   const auto goal = planner_data->goal_pose;
 
-  geometry_msgs::msg::Pose refined_goal{};
-  {
-    // Prevent from shadowVariable
     const auto goal_lanelet = get_goal_lanelet(*planner_data);
-
-    // First, polish up the goal pose if possible
-    if (goal_lanelet) {
-      refined_goal = refine_goal(goal, *goal_lanelet);
-    } else {
-      refined_goal = goal;
-    }
-  }
+    const auto refined_goal = goal_lanelet.has_value() ?  refine_goal(goal, *goal_lanelet) : goal;
 
   bool is_valid_path{false};
   PathWithLaneId refined_path;