fix(behavior_velocity_planner): fix conflicts

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
autowarefoundation · Jun 16, 2022 · ef7d71d · ef7d71d
1 parent ee97f62
commit ef7d71d
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Showing 3 changed files with 3 additions and 30 deletions.
diff --git a/planning/behavior_velocity_planner/include/scene_module/crosswalk/manager.hpp b/planning/behavior_velocity_planner/include/scene_module/crosswalk/manager.hpp
@@ -40,7 +40,6 @@ class CrosswalkModuleManager : public SceneModuleManagerInterfaceWithRTC
 private:
   CrosswalkModule::PlannerParam crosswalk_planner_param_;
   WalkwayModule::PlannerParam walkway_planner_param_;
-  rtc_interface::RTCInterface rtc_interface_;
 
   std::vector<lanelet::ConstLanelet> getCrosswalksOnPath(
     const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
@@ -51,7 +50,7 @@ class CrosswalkModuleManager : public SceneModuleManagerInterfaceWithRTC
     const autoware_auto_planning_msgs::msg::PathWithLaneId & path,
     const lanelet::LaneletMapPtr lanelet_map,
     const std::shared_ptr<const lanelet::routing::RoutingGraphContainer> & overall_graphs);
-  
+
   void launchNewModules(const autoware_auto_planning_msgs::msg::PathWithLaneId & path) override;
 
   std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(

diff --git a/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp b/planning/behavior_velocity_planner/include/scene_module/scene_module_interface.hpp
@@ -17,10 +17,9 @@
 
 #include "behavior_velocity_planner/planner_data.hpp"
 
-
-#include <utilization/util.hpp>
 #include <builtin_interfaces/msg/time.hpp>
 #include <rtc_interface/rtc_interface.hpp>
+#include <utilization/util.hpp>
 
 #include <autoware_auto_planning_msgs/msg/path.hpp>
 #include <autoware_auto_planning_msgs/msg/path_with_lane_id.hpp>

diff --git a/planning/behavior_velocity_planner/src/scene_module/crosswalk/manager.cpp b/planning/behavior_velocity_planner/src/scene_module/crosswalk/manager.cpp
@@ -22,7 +22,7 @@
 namespace behavior_velocity_planner
 {
 CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterface(node, getModuleName())
+: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
 {
   const std::string ns(getModuleName());
 
@@ -105,31 +105,6 @@ std::set<int64_t> CrosswalkModuleManager::getCrosswalkIdSetOnPath(
   return crosswalk_id_set;
 }
 
-}  // namespace
-
-CrosswalkModuleManager::CrosswalkModuleManager(rclcpp::Node & node)
-: SceneModuleManagerInterfaceWithRTC(node, getModuleName())
-{
-  const std::string ns(getModuleName());
-
-  // for crosswalk parameters
-  auto & cp = crosswalk_planner_param_;
-  cp.stop_line_distance = node.declare_parameter(ns + ".crosswalk.stop_line_distance", 1.5);
-  cp.stop_margin = node.declare_parameter(ns + ".crosswalk.stop_margin", 1.0);
-  cp.slow_margin = node.declare_parameter(ns + ".crosswalk.slow_margin", 2.0);
-  cp.slow_velocity = node.declare_parameter(ns + ".crosswalk.slow_velocity", 5.0 / 3.6);
-  cp.stop_predicted_object_prediction_time_margin =
-    node.declare_parameter(ns + ".crosswalk.stop_predicted_object_prediction_time_margin", 3.0);
-  cp.external_input_timeout = node.declare_parameter(ns + ".crosswalk.external_input_timeout", 1.0);
-
-  // for walkway parameters
-  auto & wp = walkway_planner_param_;
-  wp.stop_margin = node.declare_parameter(ns + ".walkway.stop_margin", 1.0);
-  wp.stop_line_distance = node.declare_parameter(ns + ".walkway.stop_line_distance", 1.0);
-  wp.stop_duration_sec = node.declare_parameter(ns + ".walkway.stop_duration_sec", 1.0);
-  wp.external_input_timeout = node.declare_parameter(ns + ".walkway.external_input_timeout", 1.0);
-}
-
 void CrosswalkModuleManager::launchNewModules(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path)
 {