PR8117相当

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

planning/behavior_path_dynamic_avoidance_module/include/behavior_path_dynamic_avoidance_module/manager.hpp

@@ -44,8 +44,6 @@ class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
 
-  bool isAlwaysExecutableModule() const override;
-
 private:
   std::shared_ptr<DynamicAvoidanceParameters> parameters_;
 };

planning/behavior_path_dynamic_avoidance_module/src/manager.cpp

@@ -287,10 +287,6 @@ void DynamicAvoidanceModuleManager::updateModuleParams(
   });
 }
 
-bool DynamicAvoidanceModuleManager::isAlwaysExecutableModule() const
-{
-  return true;
-}
 }  // namespace behavior_path_planner
 
 #include <pluginlib/class_list_macros.hpp>

planning/behavior_path_goal_planner_module/include/behavior_path_goal_planner_module/manager.hpp

@@ -43,8 +43,6 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
 
-  bool isAlwaysExecutableModule() const override;
-
   bool isSimultaneousExecutableAsApprovedModule() const override;
 
   bool isSimultaneousExecutableAsCandidateModule() const override;

planning/behavior_path_goal_planner_module/src/manager.cpp

@@ -838,23 +838,8 @@ void GoalPlannerModuleManager::updateModuleParams(
   });
 }
 
-bool GoalPlannerModuleManager::isAlwaysExecutableModule() const
-{
-  // enable AlwaysExecutable whenever goal modification is not allowed
-  // because only minor path refinements are made for fixed goals
-  if (!utils::isAllowedGoalModification(planner_data_->route_handler)) {
-    return true;
-  }
-
-  return false;
-}
-
 bool GoalPlannerModuleManager::isSimultaneousExecutableAsApprovedModule() const
 {
-  if (isAlwaysExecutableModule()) {
-    return true;
-  }
-
   // enable SimultaneousExecutable whenever goal modification is not allowed
   // because only minor path refinements are made for fixed goals
   if (!utils::isAllowedGoalModification(planner_data_->route_handler)) {
@@ -866,10 +851,6 @@ bool GoalPlannerModuleManager::isSimultaneousExecutableAsApprovedModule() const
 
 bool GoalPlannerModuleManager::isSimultaneousExecutableAsCandidateModule() const
 {
-  if (isAlwaysExecutableModule()) {
-    return true;
-  }
-
   // enable SimultaneousExecutable whenever goal modification is not allowed
   // because only minor path refinements are made for fixed goals
   if (!utils::isAllowedGoalModification(planner_data_->route_handler)) {