calculate max_iteration_num from number of scene modules

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp

@@ -111,6 +111,13 @@ class PlannerManager
    */
   void launchScenePlugin(rclcpp::Node & node, const std::string & name);
 
+  /**
+   * @brief set max iteration numbers
+   * @param number of scene module
+   *
+   */
+  void calculateMaxIterationNum(const size_t scene_module_num);
+
   /**
    * @brief unregister managers.
    * @param node.

planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp

@@ -73,13 +73,16 @@ BehaviorPathPlannerNode::BehaviorPathPlannerNode(const rclcpp::NodeOptions & nod
     const auto & p = planner_data_->parameters;
     planner_manager_ = std::make_shared<PlannerManager>(*this, p.max_iteration_num);
 
+    size_t scene_module_num = 0;
     for (const auto & name : declare_parameter<std::vector<std::string>>("launch_modules")) {
       // workaround: Since ROS 2 can't get empty list, launcher set [''] on the parameter.
       if (name == "") {
         break;
       }
       planner_manager_->launchScenePlugin(*this, name);
+      scene_module_num++;
     }
+    planner_manager_->calculateMaxIterationNum(scene_module_num);
 
     for (const auto & manager : planner_manager_->getSceneModuleManagers()) {
       path_candidate_publishers_.emplace(

planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp

@@ -66,6 +66,12 @@ void PlannerManager::launchScenePlugin(rclcpp::Node & node, const std::string &
   }
 }
 
+void PlannerManager::calculateMaxIterationNum(const size_t scene_module_num)
+{
+  max_iteration_num_ = scene_module_num * (scene_module_num + 1) / 2;
+
+}
+
 void PlannerManager::removeScenePlugin(rclcpp::Node & node, const std::string & name)
 {
   auto it = std::remove_if(manager_ptrs_.begin(), manager_ptrs_.end(), [&](const auto plugin) {