From 75d7b200f563ab045cddc96f10fa760d33b18816 Mon Sep 17 00:00:00 2001
From: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Date: Tue, 9 Apr 2024 10:48:12 +0900
Subject: [PATCH] Fix spell check and remove headers

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
---
 planning/behavior_path_lane_change_module/src/scene.cpp    | 7 ++++---
 .../behavior_path_planner/behavior_path_planner_node.hpp   | 3 +--
 .../src/behavior_path_planner_node.cpp                     | 2 --
 3 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp
index c73fc19261204..db96f7c83d72a 100644
--- a/planning/behavior_path_lane_change_module/src/scene.cpp
+++ b/planning/behavior_path_lane_change_module/src/scene.cpp
@@ -2064,14 +2064,15 @@ bool NormalLaneChange::isVehicleStuck(
 
 double NormalLaneChange::get_max_velocity_for_safety_check() const
 {
-  const auto extenal_velocity_limit_ptr = planner_data_->external_limit_max_velocity;
-  if (extenal_velocity_limit_ptr) {
+  const auto external_velocity_limit_ptr = planner_data_->external_limit_max_velocity;
+  if (external_velocity_limit_ptr) {
     return std::min(
-      static_cast<double>(extenal_velocity_limit_ptr->max_velocity), getCommonParam().max_vel);
+      static_cast<double>(external_velocity_limit_ptr->max_velocity), getCommonParam().max_vel);
   }
 
   return getCommonParam().max_vel;
 }
+
 bool NormalLaneChange::isVehicleStuck(const lanelet::ConstLanelets & current_lanes) const
 {
   if (current_lanes.empty()) {
diff --git a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
index dbab0d900a016..5a49f4d9ab66e 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp
@@ -21,7 +21,6 @@
 #include "behavior_path_planner_common/interface/steering_factor_interface.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
 
-#include <rclcpp/subscription.hpp>
 #include <tier4_autoware_utils/ros/published_time_publisher.hpp>
 
 #include <autoware_adapi_v1_msgs/msg/operation_mode_state.hpp>
@@ -37,11 +36,11 @@
 #include <nav_msgs/msg/odometry.hpp>
 #include <tier4_planning_msgs/msg/approval.hpp>
 #include <tier4_planning_msgs/msg/avoidance_debug_msg_array.hpp>
-#include <tier4_planning_msgs/msg/detail/velocity_limit__struct.hpp>
 #include <tier4_planning_msgs/msg/path_change_module.hpp>
 #include <tier4_planning_msgs/msg/reroute_availability.hpp>
 #include <tier4_planning_msgs/msg/scenario.hpp>
 #include <tier4_planning_msgs/msg/stop_reason_array.hpp>
+#include <tier4_planning_msgs/msg/velocity_limit.hpp>
 #include <visualization_msgs/msg/marker.hpp>
 
 #include <map>
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
index 95b1eaa67f9b1..80d58dbb20639 100644
--- a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
+++ b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -23,9 +23,7 @@
 #include <vehicle_info_util/vehicle_info_util.hpp>
 
 #include <tier4_planning_msgs/msg/path_change_module_id.hpp>
-#include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
-#include <functional>
 #include <memory>
 #include <string>
 #include <vector>