migrate

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

Author: soblin

planning/behavior_velocity_intersection_module/src/manager.cpp

@@ -35,10 +35,11 @@ using tier4_autoware_utils::getOrDeclareParameter;
 IntersectionModuleManager::IntersectionModuleManager(rclcpp::Node & node)
 : SceneModuleManagerInterfaceWithRTC(
     node, getModuleName(),
-    getEnableRTC(node, std::string(getModuleName()) + ".enable_rtc.intersection")),
+    getOrDeclareParameter<bool>(node, std::string(getModuleName()) + ".enable_rtc.intersection")),
   occlusion_rtc_interface_(
     &node, "intersection_occlusion",
-    getEnableRTC(node, std::string(getModuleName()) + ".enable_rtc.intersection_to_occlusion"))
+    getOrDeclareParameter<bool>(
+      node, std::string(getModuleName()) + ".enable_rtc.intersection_to_occlusion"))
 {
   const std::string ns(getModuleName());
   auto & ip = intersection_param_;
@@ -345,10 +346,10 @@ void IntersectionModuleManager::launchNewModules(
     const UUID uuid = getUUID(new_module->getModuleId());
     const auto occlusion_uuid = new_module->getOcclusionUUID();
     rtc_interface_.updateCooperateStatus(
-      uuid, true, State::RUNNING, std::numeric_limits<double>::lowest(),
-      std::numeric_limits<double>::lowest(), clock_->now());
+      uuid, true, std::numeric_limits<double>::lowest(), std::numeric_limits<double>::lowest(),
+      clock_->now());
     occlusion_rtc_interface_.updateCooperateStatus(
-      occlusion_uuid, true, State::RUNNING, std::numeric_limits<double>::lowest(),
+      occlusion_uuid, true, std::numeric_limits<double>::lowest(),
       std::numeric_limits<double>::lowest(), clock_->now());
     registerModule(std::move(new_module));
   }
@@ -404,13 +405,12 @@ void IntersectionModuleManager::sendRTC(const Time & stamp)
     const UUID uuid = getUUID(scene_module->getModuleId());
     const bool safety =
       scene_module->isSafe() && (!intersection_module->isOcclusionFirstStopRequired());
-    updateRTCStatus(uuid, safety, State::RUNNING, scene_module->getDistance(), stamp);
+    updateRTCStatus(uuid, safety, scene_module->getDistance(), stamp);
     const auto occlusion_uuid = intersection_module->getOcclusionUUID();
     const auto occlusion_distance = intersection_module->getOcclusionDistance();
     const auto occlusion_safety = intersection_module->getOcclusionSafety();
     occlusion_rtc_interface_.updateCooperateStatus(
-      occlusion_uuid, occlusion_safety, State::RUNNING, occlusion_distance, occlusion_distance,
-      stamp);
+      occlusion_uuid, occlusion_safety, occlusion_distance, occlusion_distance, stamp);
 
     // ==========================================================================================
     // module debug data

planning/behavior_velocity_intersection_module/src/scene_intersection.cpp

@@ -20,7 +20,6 @@
 #include <behavior_velocity_planner_common/utilization/util.hpp>
 #include <lanelet2_extension/regulatory_elements/autoware_traffic_light.hpp>
 #include <lanelet2_extension/utility/utilities.hpp>
-#include <motion_utils/factor/velocity_factor_interface.hpp>
 #include <motion_utils/trajectory/trajectory.hpp>
 #include <tier4_autoware_utils/geometry/boost_polygon_utils.hpp>  // for toPolygon2d
 #include <tier4_autoware_utils/geometry/geometry.hpp>
@@ -45,7 +44,6 @@ namespace bg = boost::geometry;
 using intersection::make_err;
 using intersection::make_ok;
 using intersection::Result;
-using motion_utils::VelocityFactorInterface;
 
 IntersectionModule::IntersectionModule(
   const int64_t module_id, const int64_t lane_id,
@@ -1282,14 +1280,13 @@ void IntersectionModule::updateTrafficSignalObservation()
     return;
   }
   const auto [tl_id, point] = tl_id_and_point_.value();
-  const auto tl_info_opt =
-    planner_data_->getTrafficSignal(tl_id, true /* traffic light module keeps last observation*/);
+  const auto tl_info_opt = planner_data_->getTrafficSignal(tl_id);
   if (!tl_info_opt) {
     // the info of this traffic light is not available
     return;
   }
-  last_tl_valid_observation_ = tl_info_opt.value();
-  internal_debug_data_.tl_observation = tl_info_opt.value();
+  last_tl_valid_observation_ = *tl_info_opt;
+  internal_debug_data_.tl_observation = *tl_info_opt;
 }
 
 IntersectionModule::PassJudgeStatus IntersectionModule::isOverPassJudgeLinesStatus(