feat: Remove max_iteration_num parameter from PlannerManager constructor

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
autowarefoundation · Jul 9, 2024 · d2c8977 · d2c8977
1 parent f3055b6
commit d2c8977
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Showing 4 changed files with 4 additions and 8 deletions.
diff --git a/...avior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml b/...avior_path_planner/autoware_behavior_path_planner/config/behavior_path_planner.param.yaml
@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-    max_iteration_num: 100
     traffic_light_signal_timeout: 1.0
     planning_hz: 10.0
     backward_path_length: 5.0

diff --git a/...autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/...autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
@@ -96,7 +96,7 @@ struct SceneModuleStatus
 class PlannerManager
 {
 public:
-  PlannerManager(rclcpp::Node & node, const size_t max_iteration_num);
+  explicit PlannerManager(rclcpp::Node & node);
 
   /**
    * @brief run all candidate and approved modules.

diff --git a/...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -70,8 +70,7 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
 
     const std::lock_guard<std::mutex> lock(mutex_manager_);  // for planner_manager_
 
-    const auto & p = planner_data_->parameters;
-    planner_manager_ = std::make_shared<PlannerManager>(*this, p.max_iteration_num);
+    planner_manager_ = std::make_shared<PlannerManager>(*this);
 
     size_t scene_module_num = 0;
     for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
@@ -150,7 +149,6 @@ BehaviorPathPlannerParameters BehaviorPathPlannerNode::getCommonParam()
 {
   BehaviorPathPlannerParameters p{};
 
-  p.max_iteration_num = declare_parameter<int>("max_iteration_num");
   p.traffic_light_signal_timeout = declare_parameter<double>("traffic_light_signal_timeout");
 
   // vehicle info

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp
@@ -30,13 +30,12 @@
 
 namespace autoware::behavior_path_planner
 {
-PlannerManager::PlannerManager(rclcpp::Node & node, const size_t max_iteration_num)
+PlannerManager::PlannerManager(rclcpp::Node & node)
 : plugin_loader_(
     "autoware_behavior_path_planner",
     "autoware::behavior_path_planner::SceneModuleManagerInterface"),
   logger_(node.get_logger().get_child("planner_manager")),
-  clock_(*node.get_clock()),
-  max_iteration_num_{max_iteration_num}
+  clock_(*node.get_clock())
 {
   processing_time_.emplace("total_time", 0.0);
   debug_publisher_ptr_ = std::make_unique<DebugPublisher>(&node, "~/debug");