From 58c879a7089fe0795e1995d1d85a97e4d2571c13 Mon Sep 17 00:00:00 2001
From: Mamoru Sobue <mamoru.sobue@tier4.jp>
Date: Sun, 15 Dec 2024 15:05:00 +0900
Subject: [PATCH] fix ci

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
---
 .../src/goal_planner_module.cpp                            | 7 +++----
 .../src/pull_over_planner/geometric_pull_over.cpp          | 5 +----
 .../src/pull_over_planner/shift_pull_over.cpp              | 2 +-
 3 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
index 28a2f8cee48b0..24bacf6fa6540 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -1690,11 +1690,10 @@ PathWithLaneId GoalPlannerModule::generateStopPath(
   // 4. feasible stop
   const auto stop_pose_opt = std::invoke([&]() -> std::optional<Pose> {
     if (context_data.pull_over_path_opt)
-      return context_data.pull_over_path_opt.value().start_pose();
+      return std::make_optional<Pose>(context_data.pull_over_path_opt.value().start_pose());
     if (context_data.lane_parking_response.closest_start_pose)
-      return context_data.lane_parking_response.closest_start_pose.value();
-    if (!decel_pose) return std::nullopt;
-    return decel_pose.value();
+      return context_data.lane_parking_response.closest_start_pose;
+    return decel_pose;
   });
   if (!stop_pose_opt.has_value()) {
     const auto feasible_stop_path =
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
index f75358601d877..c0bac5c5ce2a8 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
@@ -78,9 +78,6 @@ std::optional<PullOverPath> GeometricPullOver::plan(
   auto pull_over_path_opt = PullOverPath::create(
     getPlannerType(), id, planner_.getPaths(), planner_.getStartPose(), modified_goal_pose,
     planner_.getPairsTerminalVelocityAndAccel());
-  if (!pull_over_path_opt) {
-    return {};
-  }
-  return pull_over_path_opt.value();
+  return pull_over_path_opt;
 }
 }  // namespace autoware::behavior_path_planner
diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
index 501502125d7ee..edecfd733d3be 100644
--- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
+++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
@@ -67,7 +67,7 @@ std::optional<PullOverPath> ShiftPullOver::plan(
       modified_goal_pose, id, planner_data, previous_module_output, road_lanes, pull_over_lanes,
       lateral_jerk);
     if (!pull_over_path) continue;
-    return *pull_over_path;
+    return pull_over_path;
   }
 
   return {};