fix(autoware_behavior_path_planner) : Removed the use of max_iteratio…

…n_num parameter. Signed-off-by: k-hazama-esol <k-hazama@esol.co.jp>
tier4 · Feb 28, 2025 · 15be36d · 15be36d
1 parent 5c17b3d
commit 15be36d
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Showing 3 changed files with 3 additions and 5 deletions.
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
@@ -367,7 +367,7 @@ class SubPlannerManager
 class PlannerManager
 {
 public:
-  PlannerManager(rclcpp::Node & node, const size_t max_iteration_num);
+  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
@@ -159,7 +159,6 @@ 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())
 {
   current_route_lanelet_ = std::make_shared<std::optional<lanelet::ConstLanelet>>(std::nullopt);
   processing_time_.emplace("total_time", 0.0);