fix(start_planner, goal_planner): remove inappropriate reference value (

#5618)

Signed-off-by: kosuke55 <[email protected]>

planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp

@@ -1751,12 +1751,12 @@ bool GoalPlannerModule::isSafePath() const
       ego_seg_idx, is_object_front, limit_to_max_velocity);
 
   // filtering objects with velocity, position and class
-  const auto & filtered_objects = utils::path_safety_checker::filterObjects(
+  const auto filtered_objects = utils::path_safety_checker::filterObjects(
     dynamic_object, route_handler, pull_over_lanes, current_pose.position,
     objects_filtering_params_);
 
   // filtering objects based on the current position's lane
-  const auto & target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane(
+  const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane(
     pull_over_lanes, route_handler, filtered_objects, objects_filtering_params_);
 
   const double hysteresis_factor =
@@ -1956,7 +1956,7 @@ void GoalPlannerModule::printParkingPositionError() const
 bool GoalPlannerModule::checkOriginalGoalIsInShoulder() const
 {
   const auto & route_handler = planner_data_->route_handler;
-  const Pose & goal_pose = route_handler->getOriginalGoalPose();
+  const Pose goal_pose = route_handler->getOriginalGoalPose();
 
   const lanelet::ConstLanelets pull_over_lanes = goal_planner_utils::getPullOverLanes(
     *(route_handler), left_side_parking_, parameters_->backward_goal_search_length,

planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp

@@ -742,7 +742,7 @@ void StartPlannerModule::updateStatusAfterBackwardDriving()
 
 PathWithLaneId StartPlannerModule::calcBackwardPathFromStartPose() const
 {
-  const Pose & start_pose = planner_data_->route_handler->getOriginalStartPose();
+  const Pose start_pose = planner_data_->route_handler->getOriginalStartPose();
   const auto pull_out_lanes = start_planner_utils::getPullOutLanes(
     planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance);
 
@@ -770,7 +770,7 @@ std::vector<Pose> StartPlannerModule::searchPullOutStartPoseCandidates(
   const PathWithLaneId & back_path_from_start_pose) const
 {
   std::vector<Pose> pull_out_start_pose_candidates{};
-  const auto & start_pose = planner_data_->route_handler->getOriginalStartPose();
+  const auto start_pose = planner_data_->route_handler->getOriginalStartPose();
   const auto local_vehicle_footprint = createVehicleFootprint(vehicle_info_);
   const auto pull_out_lanes = start_planner_utils::getPullOutLanes(
     planner_data_, planner_data_->parameters.backward_path_length + parameters_->max_back_distance);
@@ -1074,11 +1074,11 @@ bool StartPlannerModule::isSafePath() const
       is_object_front, limit_to_max_velocity);
 
   // filtering objects with velocity, position and class
-  const auto & filtered_objects = utils::path_safety_checker::filterObjects(
+  const auto filtered_objects = utils::path_safety_checker::filterObjects(
     dynamic_object, route_handler, current_lanes, current_pose.position, objects_filtering_params_);
 
   // filtering objects based on the current position's lane
-  const auto & target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane(
+  const auto target_objects_on_lane = utils::path_safety_checker::createTargetObjectsOnLane(
     current_lanes, route_handler, filtered_objects, objects_filtering_params_);
 
   const double hysteresis_factor =

planning/behavior_path_planner/src/utils/start_planner/util.cpp

@@ -89,7 +89,7 @@ lanelet::ConstLanelets getPullOutLanes(
 {
   const double & vehicle_width = planner_data->parameters.vehicle_width;
   const auto & route_handler = planner_data->route_handler;
-  const auto & start_pose = planner_data->route_handler->getOriginalStartPose();
+  const auto start_pose = planner_data->route_handler->getOriginalStartPose();
 
   lanelet::ConstLanelet current_shoulder_lane;
   lanelet::ConstLanelets shoulder_lanes;