fix(crosswalk): don't use vehicle stop checker to remove unnecessary …

…callback (autowarefoundation#9234) Signed-off-by: satoshi-ota <[email protected]>
tier4 · Nov 6, 2024 · 200781f · 200781f
1 parent c2abb5c
commit 200781f
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Showing 2 changed files with 1 addition and 6 deletions.
diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -197,8 +197,6 @@ CrosswalkModule::CrosswalkModule(
 
   collision_info_pub_ =
     node.create_publisher<tier4_debug_msgs::msg::StringStamped>("~/debug/collision_info", 1);
-
-  vehicle_stop_checker_ = std::make_unique<motion_utils::VehicleStopChecker>(&node);
 }
 
 bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason)
@@ -1221,8 +1219,7 @@ void CrosswalkModule::planStop(
 bool CrosswalkModule::checkRestartSuppression(
   const PathWithLaneId & ego_path, const std::optional<StopFactor> & stop_factor) const
 {
-  const auto is_vehicle_stopped = vehicle_stop_checker_->isVehicleStopped();
-  if (!is_vehicle_stopped) {
+  if (!planner_data_->isVehicleStopped()) {
     return false;
   }
 

diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -436,8 +436,6 @@ class CrosswalkModule : public SceneModuleInterface
   // Debug
   mutable DebugData debug_data_;
 
-  std::unique_ptr<motion_utils::VehicleStopChecker> vehicle_stop_checker_{nullptr};
-
   // Stop watch
   StopWatch<std::chrono::milliseconds> stop_watch_;