From 22dc194eec0806a4d5be3904d798823feb21dc45 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 19 Dec 2023 10:13:08 +0900
Subject: [PATCH] feat(dynamic_avoidance): always launch the module when
 requested (#5900)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../scene_module/dynamic_avoidance/manager.hpp               | 2 ++
 .../src/scene_module/dynamic_avoidance/manager.cpp           | 5 +++++
 2 files changed, 7 insertions(+)

diff --git a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp
index c02ee88d3fa3e..9e08f309a78b3 100644
--- a/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp
+++ b/planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp
@@ -44,6 +44,8 @@ class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
 
+  bool isAlwaysExecutableModule() const override;
+
 private:
   std::shared_ptr<DynamicAvoidanceParameters> parameters_;
 };
diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
index 2824a6221591a..ca0bc070d0fdb 100644
--- a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
+++ b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
@@ -255,6 +255,11 @@ void DynamicAvoidanceModuleManager::updateModuleParams(
     if (!observer.expired()) observer.lock()->updateModuleParams(p);
   });
 }
+
+bool DynamicAvoidanceModuleManager::isAlwaysExecutableModule() const
+{
+  return true;
+}
 }  // namespace behavior_path_planner
 
 #include <pluginlib/class_list_macros.hpp>