fix(bpp): don't remove rtc cooperate status

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/scene.hpp

@@ -365,7 +365,6 @@ class AvoidanceModule : public SceneModuleInterface
     if (!path_shifter_.getShiftLines().empty()) {
       left_shift_array_.clear();
       right_shift_array_.clear();
-      removeRTCStatus();
     }
 
     generator_.reset();

planning/behavior_path_avoidance_module/src/scene.cpp

@@ -1283,7 +1283,6 @@ void AvoidanceModule::updateData()
 void AvoidanceModule::processOnEntry()
 {
   initVariables();
-  removeRTCStatus();
 }
 
 void AvoidanceModule::processOnExit()

planning/behavior_path_lane_change_module/src/interface.cpp

@@ -117,7 +117,6 @@ BehaviorModuleOutput LaneChangeInterface::plan()
   updateSteeringFactorPtr(output);
   if (module_type_->isAbortState()) {
     waitApproval();
-    removeRTCStatus();
     const auto candidate = planCandidate();
     path_candidate_ = std::make_shared<PathWithLaneId>(candidate.path_candidate);
     updateRTCStatus(
@@ -147,7 +146,6 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval()
   stop_pose_ = module_type_->getStopPose();
 
   if (!module_type_->isValidPath()) {
-    removeRTCStatus();
     path_candidate_ = std::make_shared<PathWithLaneId>();
     return out;
   }

planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp

@@ -187,7 +187,6 @@ class SceneModuleInterface
     RCLCPP_DEBUG(getLogger(), "%s %s", name_.c_str(), __func__);
 
     clearWaitingApproval();
-    removeRTCStatus();
     unlockNewModuleLaunch();
     unlockOutputPath();
     steering_factor_interface_ptr_->clearSteeringFactors();
@@ -527,15 +526,6 @@ class SceneModuleInterface
     return existApprovedRequest();
   }
 
-  void removeRTCStatus()
-  {
-    for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
-      if (ptr) {
-        ptr->clearCooperateStatus();
-      }
-    }
-  }
-
   void setStopReason(const std::string & stop_reason, const PathWithLaneId & path)
   {
     stop_reason_.reason = stop_reason;

planning/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_manager_interface.hpp

@@ -103,6 +103,7 @@ class SceneModuleManagerInterface
   {
     for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
       if (ptr) {
+        ptr->removeExpiredCooperateStatus();
         ptr->publishCooperateStatus(rclcpp::Clock(RCL_ROS_TIME).now());
       }
     }

planning/behavior_path_start_planner_module/src/start_planner_module.cpp

@@ -1051,7 +1051,6 @@ void StartPlannerModule::updateStatusAfterBackwardDriving()
   // request start_planner approval
   waitApproval();
   // To enable approval of the forward path, the RTC status is removed.
-  removeRTCStatus();
   for (auto itr = uuid_map_.begin(); itr != uuid_map_.end(); ++itr) {
     itr->second = generateUUID();
   }