Merge pull request #1519 from tier4/hotfix/beta/v0.34_goal_planner

fix(goal planner): fix scenario fail and data race beta/v0.34
tier4 · Sep 6, 2024 · 0dc6d82 · 0dc6d82
2 parents 96ff1bd + a7c1dc2
commit 0dc6d82
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Showing 2 changed files with 1 addition and 5 deletions.
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
@@ -1243,8 +1243,6 @@ bool GoalPlannerModule::hasNotDecidedPath(
   const std::shared_ptr<SafetyCheckParams> & safety_check_params,
   const std::shared_ptr<GoalSearcherBase> goal_searcher) const
 {
-  universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
-
   return checkDecidingPathStatus(
            planner_data, occupancy_grid_map, parameters, ego_predicted_path_params,
            objects_filtering_params, safety_check_params, goal_searcher)
@@ -2360,8 +2358,6 @@ std::pair<bool, bool> GoalPlannerModule::isSafePath(
   const std::shared_ptr<ObjectsFilteringParams> & objects_filtering_params,
   const std::shared_ptr<SafetyCheckParams> & safety_check_params) const
 {
-  universe_utils::ScopedTimeTrack st(__func__, *time_keeper_);
-
   if (!thread_safe_data_.get_pull_over_path()) {
     return {false, false};
   }

diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/util.cpp
@@ -191,7 +191,7 @@ std::optional<Polygon2d> generateObjectExtractionPolygon(
     constexpr double INTERSECTION_CHECK_DISTANCE = 10.0;
     std::vector<Point> modified_bound{};
     size_t i = 0;
-    while (i < bound.size() - 2) {
+    while (i < bound.size() - 1) {
       BoostPoint p1(bound.at(i).x, bound.at(i).y);
       BoostPoint p2(bound.at(i + 1).x, bound.at(i + 1).y);
       LineString p_line{};