From 200781f28bf32a2fef7a5c5fab5eeec90e246652 Mon Sep 17 00:00:00 2001
From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Date: Tue, 5 Nov 2024 20:03:47 +0900
Subject: [PATCH] fix(crosswalk): don't use vehicle stop checker to remove
 unnecessary callback (#9234)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
---
 .../src/scene_crosswalk.cpp                                  | 5 +----
 .../src/scene_crosswalk.hpp                                  | 2 --
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index 169d42d7955e5..b1a6b45d83cf0 100644
--- 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
index 77b422f1bd5da..f21e6883c4a3e 100644
--- 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_;