refactor(goal_planner): remove enable_safety_check because it is defa…

…ult (#10052) Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Jan 31, 2025 · 46ec581 · 46ec581
1 parent 74f4390
commit 46ec581
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Showing 4 changed files with 16 additions and 26 deletions.
diff --git a/...ning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md b/...ning/behavior_path_planner/autoware_behavior_path_goal_planner_module/README.md
@@ -384,7 +384,6 @@ In addition, the safety check has a time hysteresis, and if the path is judged "
 
 | Name                                 | Unit  | Type   | Description                                                                                              | Default value                |
 | :----------------------------------- | :---- | :----- | :------------------------------------------------------------------------------------------------------- | :--------------------------- |
-| enable_safety_check                  | [-]   | bool   | flag whether to use safety check                                                                         | true                         |
 | method                               | [-]   | string | method for safety check. `RSS` or `integral_predicted_polygon`                                           | `integral_predicted_polygon` |
 | keep_unsafe_time                     | [s]   | double | safety check Hysteresis time. if the path is judged "safe" for the time it is finally treated as "safe". | 3.0                          |
 | check_all_predicted_path             | -     | bool   | Flag to check all predicted paths                                                                        | true                         |

diff --git a/...g/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp b/...g/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/decision_state.cpp
@@ -57,22 +57,18 @@ PathDecisionState PathDecisionStateController::get_next_state(
   auto next_state = current_state_;
 
   // update safety
-  if (!parameters.safety_check_params.enable_safety_check) {
-    next_state.is_stable_safe = true;
-  } else {
-    if (is_current_safe) {
-      if (!next_state.safe_start_time) {
-        next_state.safe_start_time = now;
-        next_state.is_stable_safe = false;
-      } else {
-        next_state.is_stable_safe =
-          ((now - next_state.safe_start_time.value()).seconds() >
-           parameters.safety_check_params.keep_unsafe_time);
-      }
-    } else {
-      next_state.safe_start_time = std::nullopt;
+  if (is_current_safe) {
+    if (!next_state.safe_start_time) {
+      next_state.safe_start_time = now;
       next_state.is_stable_safe = false;
+    } else {
+      next_state.is_stable_safe =
+        ((now - next_state.safe_start_time.value()).seconds() >
+         parameters.safety_check_params.keep_unsafe_time);
     }
+  } else {
+    next_state.safe_start_time = std::nullopt;
+    next_state.is_stable_safe = false;
   }
 
   // Once this function returns true, it will continue to return true thereafter
@@ -87,10 +83,9 @@ PathDecisionState PathDecisionStateController::get_next_state(
   }
 
   const auto & pull_over_path = pull_over_path_opt.value();
-  const bool enable_safety_check = parameters.safety_check_params.enable_safety_check;
   // If it is dangerous against dynamic objects before approval, do not determine the path.
   // This eliminates a unsafe path to be approved
-  if (enable_safety_check && !next_state.is_stable_safe && !is_activated) {
+  if (!next_state.is_stable_safe && !is_activated) {
     RCLCPP_DEBUG(
       logger_,
       "[DecidingPathStatus]: NOT_DECIDED. path is not safe against dynamic objects before "
@@ -132,7 +127,7 @@ PathDecisionState PathDecisionStateController::get_next_state(
       return next_state;
     }
 
-    if (enable_safety_check && !next_state.is_stable_safe) {
+    if (!next_state.is_stable_safe) {
       RCLCPP_DEBUG(
         logger_,
         "[DecidingPathStatus]: DECIDING->NOT_DECIDED. path is not safe against dynamic objects");

diff --git a/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/...avior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp
@@ -79,11 +79,6 @@ GoalPlannerModule::GoalPlannerModule(
   is_lane_parking_cb_running_{false},
   is_freespace_parking_cb_running_{false}
 {
-  // TODO(soblin): remove safety_check_params.enable_safety_check because it does not make sense
-  if (!parameters_.safety_check_params.enable_safety_check) {
-    throw std::domain_error("goal_planner never works without safety check");
-  }
-
   occupancy_grid_map_ = std::make_shared<OccupancyGridBasedCollisionDetector>();
 
   // planner when goal modification is not allowed

diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp
@@ -368,6 +368,10 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters(
   {
     p.safety_check_params.enable_safety_check =
       node->declare_parameter<bool>(safety_check_ns + "enable_safety_check");
+    // NOTE(soblin): remove safety_check_params.enable_safety_check because it does not make sense
+    if (!p.safety_check_params.enable_safety_check) {
+      throw std::domain_error("goal_planner never works without safety check");
+    }
     p.safety_check_params.keep_unsafe_time =
       node->declare_parameter<double>(safety_check_ns + "keep_unsafe_time");
     p.safety_check_params.method = node->declare_parameter<std::string>(safety_check_ns + "method");
@@ -786,9 +790,6 @@ void GoalPlannerModuleManager::updateModuleParams(
   // SafetyCheckParams
   const std::string safety_check_ns = path_safety_check_ns + "safety_check_params.";
   {
-    updateParam<bool>(
-      parameters, safety_check_ns + "enable_safety_check",
-      p->safety_check_params.enable_safety_check);
     updateParam<double>(
       parameters, safety_check_ns + "keep_unsafe_time", p->safety_check_params.keep_unsafe_time);
     updateParam<std::string>(parameters, safety_check_ns + "method", p->safety_check_params.method);