Merge pull request #1635 from tier4/minor/fix/not-use-vehicle-stop-ch…

…ecker fix(crosswalk): don't use vehicle stop checker to remove unnecessary …
tier4 · Nov 11, 2024 · 93c8934 · 93c8934
2 parents 77ac8ca + ebba16e
commit 93c8934
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Showing 2 changed files with 1 addition and 7 deletions.
diff --git a/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -199,8 +199,6 @@ CrosswalkModule::CrosswalkModule(
 
   collision_info_pub_ =
     node.create_publisher<tier4_debug_msgs::msg::StringStamped>("~/debug/collision_info", 1);
-
-  vehicle_stop_checker_ = std::make_unique<autoware::motion_utils::VehicleStopChecker>(&node);
 }
 
 bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason)
@@ -1389,8 +1387,7 @@ 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/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/...vior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -18,7 +18,6 @@
 #include "autoware/behavior_velocity_crosswalk_module/util.hpp"
 
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
-#include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
@@ -466,8 +465,6 @@ class CrosswalkModule : public SceneModuleInterface
   // Debug
   mutable DebugData debug_data_;
 
-  std::unique_ptr<autoware::motion_utils::VehicleStopChecker> vehicle_stop_checker_{nullptr};
-
   // Stop watch
   StopWatch<std::chrono::milliseconds> stop_watch_;