fix freequent route handler construction

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

planning/obstacle_cruise_planner/include/obstacle_cruise_planner/node.hpp

@@ -145,7 +145,7 @@ class ObstacleCruisePlannerNode : public rclcpp::Node
   AccelWithCovarianceStamped::ConstSharedPtr ego_accel_ptr_{nullptr};
   HADMapBin::ConstSharedPtr vector_map_ptr_{nullptr};
 
-  std::shared_ptr<route_handler::RouteHandler> route_handler_;
+  std::unique_ptr<route_handler::RouteHandler> route_handler_;
 
   // Vehicle Parameters
   VehicleInfo vehicle_info_;

planning/obstacle_cruise_planner/src/node.cpp

@@ -515,16 +515,18 @@ rcl_interfaces::msg::SetParametersResult ObstacleCruisePlannerNode::onParam(
 
 void ObstacleCruisePlannerNode::onTrajectory(const Trajectory::ConstSharedPtr msg)
 {
+  stop_watch_.tic(__func__);
   const auto traj_points = motion_utils::convertToTrajectoryPointArray(*msg);
 
   // check if subscribed variables are ready
   if (
     traj_points.empty() || !ego_odom_ptr_ || !ego_accel_ptr_ || !objects_ptr_ || !vector_map_ptr_) {
     return;
   }
-  route_handler_ = std::make_shared<route_handler::RouteHandler>(*vector_map_ptr_);
+  if (route_handler_ == nullptr) {
+    route_handler_ = std::make_unique<route_handler::RouteHandler>(*vector_map_ptr_);
+  }
 
-  stop_watch_.tic(__func__);
   *debug_data_ptr_ = DebugData();
 
   const auto is_driving_forward = motion_utils::isDrivingForwardWithTwist(traj_points);