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fix(static_centerline_generator): update initialization of path_generator #345

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fix(static_centerline_generator): update initialization of path_generator #345

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21 changes: 10 additions & 11 deletions ...c_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -282,20 +282,19 @@ void OptimizationTrajectoryBasedCenterline::init_path_generator_node(
const geometry_msgs::msg::Pose current_pose, LaneletMapBin::ConstSharedPtr & map_bin_ptr,
const LaneletRoute & route) const
{
autoware::path_generator::PathGenerator::InputData path_generator_input;
if (path_generator_node_) {
return;
}

if (!path_generator_node_) {
// initialize node, lanelet map and route
path_generator_node_ =
std::make_shared<autoware::path_generator::PathGenerator>(create_node_options());
// initialize node, lanelet map and route
path_generator_node_ =
std::make_shared<autoware::path_generator::PathGenerator>(create_node_options());

// NOTE: no need to register every time
path_generator_input.lanelet_map_bin_ptr = map_bin_ptr;
path_generator_input.route_ptr = std::make_shared<LaneletRoute>(route);
}
autoware::path_generator::PathGenerator::RouteManagerData route_manager_data;
route_manager_data.lanelet_map_bin_ptr = map_bin_ptr;
route_manager_data.route_ptr = std::make_shared<LaneletRoute>(route);

path_generator_input.odometry_ptr = utils::convert_to_odometry(current_pose);
path_generator_node_->set_planner_data(path_generator_input);
path_generator_node_->initialize_route_manager(route_manager_data, current_pose);
}

std::shared_ptr<autoware::behavior_path_planner::PlannerData>
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2 changes: 0 additions & 2 deletions ...c_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,7 @@

#include "autoware/behavior_path_goal_planner_module/default_fixed_goal_planner.hpp"
#include "autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp"
#include "autoware/path_generator/common_structs.hpp"
#include "autoware/path_generator/node.hpp"
#include "autoware/path_generator/utils.hpp"
#include "rclcpp/rclcpp.hpp"
#include "type_alias.hpp"

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