From 15be36dcc4025a226097fbadfb252a233a185959 Mon Sep 17 00:00:00 2001
From: k-hazama-esol <k-hazama@esol.co.jp>
Date: Fri, 28 Feb 2025 09:41:11 +0900
Subject: [PATCH] fix(autoware_behavior_path_planner) : Removed the use of
 max_iteration_num parameter.

Signed-off-by: k-hazama-esol <k-hazama@esol.co.jp>
---
 .../autoware/behavior_path_planner/planner_manager.hpp       | 2 +-
 .../src/behavior_path_planner_node.cpp                       | 1 -
 .../autoware_behavior_path_planner/src/planner_manager.cpp   | 5 ++---
 3 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
index b13d5eb6b8230..91841364b1e51 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
+++ b/planning/behavior_path_planner/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/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
index 12867dae4e59c..de3320c6cb748 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/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
index f84ca1f872370..b22eebd009be1 100644
--- 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);