Merge branch 'main' into sensing-imu-corrector

autowarefoundation · Dec 20, 2023 · 342f0d9 · 342f0d9
2 parents f923512 + bca290d
commit 342f0d9
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Showing 7 changed files with 9 additions and 14 deletions.
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp
@@ -286,6 +286,8 @@ class PlannerManager
 
     module_ptr->publishRTCStatus();
 
+    module_ptr->publishSteeringFactor();
+
     module_ptr->publishObjectsOfInterestMarker();
 
     processing_time_.at(module_ptr->name()) += stop_watch_.toc(module_ptr->name(), true);

diff --git a/planning/behavior_velocity_traffic_light_module/package.xml b/planning/behavior_velocity_traffic_light_module/package.xml
@@ -24,7 +24,6 @@
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>lanelet2_extension</depend>
-  <depend>libboost-dev</depend>
   <depend>motion_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>

diff --git a/planning/behavior_velocity_traffic_light_module/src/debug.cpp b/planning/behavior_velocity_traffic_light_module/src/debug.cpp
@@ -26,8 +26,6 @@
 
 namespace behavior_velocity_planner
 {
-using tier4_autoware_utils::appendMarkerArray;
-
 visualization_msgs::msg::MarkerArray TrafficLightModule::createDebugMarkerArray()
 {
   visualization_msgs::msg::MarkerArray debug_marker_array;

diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.cpp b/planning/behavior_velocity_traffic_light_module/src/manager.cpp
@@ -23,7 +23,6 @@
 #include <memory>
 #include <set>
 #include <string>
-#include <unordered_map>
 #include <utility>
 namespace behavior_velocity_planner
 {

diff --git a/planning/behavior_velocity_traffic_light_module/src/manager.hpp b/planning/behavior_velocity_traffic_light_module/src/manager.hpp
@@ -26,6 +26,7 @@
 
 #include <functional>
 #include <memory>
+#include <optional>
 
 namespace behavior_velocity_planner
 {
@@ -57,7 +58,7 @@ class TrafficLightModuleManager : public SceneModuleManagerInterfaceWithRTC
   // Debug
   rclcpp::Publisher<autoware_perception_msgs::msg::TrafficSignal>::SharedPtr pub_tl_state_;
 
-  boost::optional<int> first_ref_stop_path_point_index_;
+  std::optional<int> first_ref_stop_path_point_index_;
 };
 
 class TrafficLightModulePlugin : public PluginWrapper<TrafficLightModuleManager>

diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.cpp b/planning/behavior_velocity_traffic_light_module/src/scene.cpp
@@ -19,7 +19,6 @@
 
 #include <boost/geometry/algorithms/distance.hpp>
 #include <boost/geometry/algorithms/intersection.hpp>
-#include <boost/optional.hpp>  // To be replaced by std::optional in C++17
 
 #include <tf2/utils.h>
 
@@ -31,9 +30,7 @@
 
 #include <algorithm>
 #include <limits>
-#include <map>
 #include <string>
-#include <utility>
 #include <vector>
 
 namespace behavior_velocity_planner
@@ -52,14 +49,14 @@ bool getBackwardPointFromBasePoint(
   return true;
 }
 
-boost::optional<Point2d> findNearestCollisionPoint(
+std::optional<Point2d> findNearestCollisionPoint(
   const LineString2d & line1, const LineString2d & line2, const Point2d & origin)
 {
   std::vector<Point2d> collision_points;
   bg::intersection(line1, line2, collision_points);
 
   if (collision_points.empty()) {
-    return boost::none;
+    return std::nullopt;
   }
 
   // check nearest collision point

diff --git a/planning/behavior_velocity_traffic_light_module/src/scene.hpp b/planning/behavior_velocity_traffic_light_module/src/scene.hpp
@@ -17,7 +17,6 @@
 
 #include <memory>
 #include <optional>
-#include <string>
 #include <tuple>
 #include <vector>
 
@@ -81,7 +80,7 @@ class TrafficLightModule : public SceneModuleInterface
 
   inline State getTrafficLightModuleState() const { return state_; }
 
-  inline boost::optional<int> getFirstRefStopPathPointIndex() const
+  inline std::optional<int> getFirstRefStopPathPointIndex() const
   {
     return first_ref_stop_path_point_index_;
   }
@@ -130,9 +129,9 @@ class TrafficLightModule : public SceneModuleInterface
   // prevent stop chattering
   std::unique_ptr<Time> stop_signal_received_time_ptr_{};
 
-  boost::optional<int> first_ref_stop_path_point_index_;
+  std::optional<int> first_ref_stop_path_point_index_;
 
-  boost::optional<Time> traffic_signal_stamp_;
+  std::optional<Time> traffic_signal_stamp_;
 
   // Traffic Light State
   TrafficSignal looking_tl_state_;