fix(freespace_planner, mission_planner): null checking (tier4#1261)

* fix: remove unnecessary null check Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * chore: add is_handler_ready Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: remove unnecessary handling Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
boyali · Oct 19, 2022 · b88f5cc · b88f5cc
1 parent b91559e
commit b88f5cc
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Showing 3 changed files with 1 addition and 3 deletions.
diff --git a/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp b/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp
@@ -308,8 +308,6 @@ void FreespacePlannerNode::getAstarParam()
 
 void FreespacePlannerNode::onRoute(const HADMapRoute::ConstSharedPtr msg)
 {
-  if (scenario_ = nullptr) return;
-
   route_ = msg;
 
   goal_pose_.header = msg->header;

diff --git a/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp b/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp
@@ -162,7 +162,6 @@ bool MissionPlannerLanelet2::isRoutingGraphReady() const { return is_graph_ready
 void MissionPlannerLanelet2::visualizeRoute(
   const autoware_auto_planning_msgs::msg::HADMapRoute & route) const
 {
-  if (!route_handler_.isHandlerReady()) return;
   lanelet::ConstLanelets route_lanelets;
   lanelet::ConstLanelets end_lanelets;
   lanelet::ConstLanelets normal_lanelets;

diff --git a/planning/route_handler/src/route_handler.cpp b/planning/route_handler/src/route_handler.cpp
@@ -311,6 +311,7 @@ void RouteHandler::setRouteLanelets(const lanelet::ConstLanelets & path_lanelets
   for (const auto & id : route_lanelets_id) {
     route_lanelets_.push_back(lanelet_map_ptr_->laneletLayer.get(id));
   }
+  is_handler_ready_ = true;
 }
 
 void RouteHandler::setLaneletsFromRouteMsg()