Merge pull request autowarefoundation#207 from tier4/cherry-pick-2501

fix(behavior_path_planner): fix planner data copy (autowarefoundation#2501)
shmpwk · Dec 14, 2022 · a358cd3 · a358cd3
2 parents 39a548d + 4445cfc
commit a358cd3
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -607,7 +607,11 @@ void BehaviorPathPlannerNode::run()
   // update planner data
   planner_data_->self_pose = self_pose_listener_.getCurrentPose();
 
-  const auto planner_data = planner_data_;
+  const auto planner_data = std::make_shared<PlannerData>(*planner_data_);
+
+  // unlock planner data
+  mutex_pd_.unlock();
+
   // run behavior planner
   const auto output = bt_manager_->run(planner_data);
 
@@ -616,7 +620,6 @@ void BehaviorPathPlannerNode::run()
 
   // update planner data
   planner_data_->prev_output_path = path;
-  mutex_pd_.unlock();
 
   const size_t target_idx = findEgoIndex(path->points);
   util::clipPathLength(*path, target_idx, planner_data_->parameters);