From cdcec89762587017b677b5b164791c59678a639c Mon Sep 17 00:00:00 2001
From: TakumiKozaka-T4 <takumi.kozaka@tier4.jp>
Date: Wed, 27 Apr 2022 09:29:36 +0900
Subject: [PATCH] Modify files including unintended change by rebase

Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp>
---
 .../behavior_velocity_planner.launch.xml      | 23 -------------------
 .../virtual_traffic_light/scene.cpp           |  4 +---
 2 files changed, 1 insertion(+), 26 deletions(-)

diff --git a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
index 995910c72db16..140ce5836c792 100644
--- a/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
+++ b/planning/behavior_velocity_planner/launch/behavior_velocity_planner.launch.xml
@@ -37,25 +37,6 @@
     <param from="$(find-pkg-share behavior_velocity_planner)/config/occlusion_spot.param.yaml"/>
     <param from="$(find-pkg-share behavior_velocity_planner)/config/no_stopping_area.param.yaml"/>
 
-<<<<<<< HEAD
-=======
-<<<<<<< HEAD
-    <param from="$(var vehicle_info_param_file)"/>
-    <remap from="~/input/path_with_lane_id" to="path_with_lane_id"/>
-    <remap from="~/input/vector_map" to="$(var map_topic_name)"/>
-    <remap from="~/input/vehicle_odometry" to="/localization/kinematic_state"/>
-    <remap from="~/input/dynamic_objects" to="/perception/object_recognition/objects"/>
-    <remap from="~/input/no_ground_pointcloud" to="/perception/obstacle_segmentation/pointcloud"/>
-    <remap from="~/input/traffic_signals" to="$(var input_traffic_light_topic_name)"/>
-    <remap from="~/input/external_traffic_signals" to="$(var external_traffic_light_topic_name)"/>
-    <remap from="~/input/virtual_traffic_light_states" to="$(var virtual_traffic_light_topic_name)"/>
-    <remap from="~/input/occupancy_grid" to="/sensing/lidar/occupancy_grid"/>
-    <remap from="~/output/path" to="path"/>
-    <remap from="~/output/stop_reasons" to="/planning/scenario_planning/status/stop_reasons"/>
-    <remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands"/>
-    <remap from="~/output/traffic_signal" to="debug/traffic_signal"/>
-=======
->>>>>>> (editting) add stop reason2 to  scene modules
     <param from="$(var vehicle_info_param_file)" />
     <remap from="~/input/path_with_lane_id" to="path_with_lane_id" />
     <remap from="~/input/vector_map" to="$(var map_topic_name)" />
@@ -71,10 +52,6 @@
     <remap from="~/output/stop_reason2" to="/planning/scenario_planning/status/stop_reason2" />
     <remap from="~/output/infrastructure_commands" to="/planning/scenario_planning/status/infrastructure_commands" />
     <remap from="~/output/traffic_signal" to="debug/traffic_signal" />
-<<<<<<< HEAD
-=======
->>>>>>> (editting) add stop reason2 to  scene modules
->>>>>>> (editting) add stop reason2 to  scene modules
 
     <param name="launch_stop_line" value="$(var launch_stop_line)"/>
     <param name="launch_crosswalk" value="$(var launch_crosswalk)"/>
diff --git a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
index 7dac3a0cc3029..ebab543eaab87 100644
--- a/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
+++ b/planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/scene.cpp
@@ -362,9 +362,7 @@ bool VirtualTrafficLightModule::modifyPathVelocity(
   if (command_.type == "intersection_coordination") {
     *stop_reason_2 = planning_utils::initializeStopReason2(
       tier4_planning_msgs::msg::StopReason2::INTERSECTION_COORDINATION);
-  }
-  // The name "eva_beacon_system" should be changed because of its project specific name
-  else if (command_.type == "eva_beacon_system") {
+  } else if (command_.type == "eva_beacon_system") {
     *stop_reason_2 = planning_utils::initializeStopReason2(
       tier4_planning_msgs::msg::StopReason2::EVA_BEACON_SYSTEM);
   } else {