fix: unlock mutex_pd while running the behavior tree (autowarefoundat…

…ion#66) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tkimura4 · Jun 14, 2022 · 4c6de46 · 4c6de46
1 parent 8abfe07
commit 4c6de46
Showing 1 changed file with 0 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -489,7 +489,6 @@ void BehaviorPathPlannerNode::run()
 
   // NOTE: planner_data must not be referenced for multithreading
   const auto planner_data = planner_data_;
-  mutex_pd_.unlock();
 
   // run behavior planner
   const auto output = bt_manager_->run(planner_data);
@@ -499,7 +498,6 @@ void BehaviorPathPlannerNode::run()
   const auto path_candidate = getPathCandidate(output, planner_data);
 
   // update planner data
-  mutex_pd_.lock();  // for planner_data_
   planner_data_->prev_output_path = path;
   mutex_pd_.unlock();