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feat(behavior_path _planner): divide planner manager modules into dependent slots (#8117) #1882

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feat(behavior_path _planner): divide planner manager modules into dependent slots (#8117) #1882

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5c17b3d
feat(behavior_path _planner): divide planner manager modules into dep…
soblin Aug 1, 2024
15be36d
fix(autoware_behavior_path_planner) : Removed the use of max_iteratio…
k-hazama-esol Feb 28, 2025
ba241f4
fix(autoware_behavior_path_planner_common) : Fixed return handling of…
k-hazama-esol Feb 28, 2025
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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>
@k-hazama-esol
k-hazama-esol committed Feb 28, 2025
commit 15be36dcc4025a226097fbadfb252a233a185959
2 changes: 1 addition & 1 deletion ...autoware_behavior_path_planner/include/autoware/behavior_path_planner/planner_manager.hpp
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Original file line number Diff line number Diff line change
@@ -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.
1 change: 0 additions & 1 deletion ...g/behavior_path_planner/autoware_behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
@@ -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
5 changes: 2 additions & 3 deletions planning/behavior_path_planner/autoware_behavior_path_planner/src/planner_manager.cpp
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Original file line number Diff line number Diff line change
@@ -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);