Merge pull request #1503 from tier4/hotfix/v0.29.0/cherry-pick-bpp

fix(bpp): use common steering factor interface for same scene modules (autowarefoundation#8675)
tier4 · Sep 3, 2024 · 42c9a11 · 42c9a11
2 parents 44fb380 + a82c0ef
commit 42c9a11
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Showing 27 changed files with 60 additions and 36 deletions.
diff --git a/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp b/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.cpp
@@ -31,13 +31,15 @@ AvoidanceByLaneChangeInterface::AvoidanceByLaneChangeInterface(
   const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
+    objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
 : LaneChangeInterface{
     name,
     node,
     parameters,
     rtc_interface_ptr_map,
     objects_of_interest_marker_interface_ptr_map,
+    steering_factor_interface_ptr,
     std::make_unique<AvoidanceByLaneChange>(parameters, avoidance_by_lane_change_parameters)}
 {
 }

diff --git a/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp b/...ior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/interface.hpp
@@ -40,7 +40,8 @@ class AvoidanceByLaneChangeInterface : public LaneChangeInterface
     const std::shared_ptr<AvoidanceByLCParameters> & avoidance_by_lane_change_parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
 
   bool isExecutionRequested() const override;
 

diff --git a/...avior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp b/...avior_path_planner/autoware_behavior_path_avoidance_by_lane_change_module/src/manager.cpp
@@ -192,7 +192,7 @@ AvoidanceByLaneChangeModuleManager::createNewSceneModuleInstance()
 {
   return std::make_unique<AvoidanceByLaneChangeInterface>(
     name_, *node_, parameters_, avoidance_parameters_, rtc_interface_ptr_map_,
-    objects_of_interest_marker_interface_ptr_map_);
+    objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
 }
 
 }  // namespace autoware::behavior_path_planner

diff --git a/...dance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp b/...dance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/manager.hpp
@@ -42,7 +42,7 @@ class DynamicObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<DynamicObstacleAvoidanceModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

diff --git a/...oidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp b/...oidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp
@@ -343,7 +343,8 @@ class DynamicObstacleAvoidanceModule : public SceneModuleInterface
     std::shared_ptr<DynamicAvoidanceParameters> parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
 
   void updateModuleParams(const std::any & parameters) override
   {

diff --git a/...avior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp b/...avior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp
@@ -331,8 +331,9 @@ DynamicObstacleAvoidanceModule::DynamicObstacleAvoidanceModule(
   std::shared_ptr<DynamicAvoidanceParameters> parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr},  // NOLINT
   parameters_{std::move(parameters)},
   target_objects_manager_{TargetObjectsManager(
     parameters_->successive_num_to_entry_dynamic_avoidance_condition,

diff --git a/...r_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp b/...r_path_planner/autoware_behavior_path_external_request_lane_change_module/src/manager.cpp
@@ -26,7 +26,7 @@ ExternalRequestLaneChangeRightModuleManager::createNewSceneModuleInstance()
 {
   return std::make_unique<LaneChangeInterface>(
     name_, *node_, parameters_, rtc_interface_ptr_map_,
-    objects_of_interest_marker_interface_ptr_map_,
+    objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
     std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
 }
 
@@ -35,7 +35,7 @@ ExternalRequestLaneChangeLeftModuleManager::createNewSceneModuleInstance()
 {
   return std::make_unique<LaneChangeInterface>(
     name_, *node_, parameters_, rtc_interface_ptr_map_,
-    objects_of_interest_marker_interface_ptr_map_,
+    objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
     std::make_unique<ExternalRequestLaneChange>(parameters_, direction_));
 }
 

diff --git a/...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/...planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp
@@ -307,7 +307,8 @@ class GoalPlannerModule : public SceneModuleInterface
     const std::shared_ptr<GoalPlannerParameters> & parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
 
   ~GoalPlannerModule()
   {

diff --git a/...r_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp b/...r_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/manager.hpp
@@ -38,7 +38,7 @@ class GoalPlannerModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<GoalPlannerModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

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
@@ -57,8 +57,9 @@ GoalPlannerModule::GoalPlannerModule(
   const std::shared_ptr<GoalPlannerParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr},  // NOLINT
   parameters_{parameters},
   vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
   thread_safe_data_{mutex_, clock_},

diff --git a/...r_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp b/...r_path_lane_change_module/include/autoware/behavior_path_lane_change_module/interface.hpp
@@ -52,6 +52,7 @@ class LaneChangeInterface : public SceneModuleInterface
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
       objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr,
     std::unique_ptr<LaneChangeBase> && module_type);
 
   LaneChangeInterface(const LaneChangeInterface &) = delete;

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/interface.cpp
@@ -38,14 +38,14 @@ LaneChangeInterface::LaneChangeInterface(
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
     objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr,
   std::unique_ptr<LaneChangeBase> && module_type)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr},  // NOLINT
   parameters_{std::move(parameters)},
   module_type_{std::move(module_type)},
   prev_approved_path_{std::make_unique<PathWithLaneId>()}
 {
   module_type_->setTimeKeeper(getTimeKeeper());
-  steering_factor_interface_ptr_ = std::make_unique<SteeringFactorInterface>(&node, name);
   logger_ = utils::lane_change::getLogger(module_type_->getModuleTypeStr());
 }
 

diff --git a/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/src/manager.cpp
@@ -299,7 +299,7 @@ std::unique_ptr<SceneModuleInterface> LaneChangeModuleManager::createNewSceneMod
 {
   return std::make_unique<LaneChangeInterface>(
     name_, *node_, parameters_, rtc_interface_ptr_map_,
-    objects_of_interest_marker_interface_ptr_map_,
+    objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_,
     std::make_unique<NormalLaneChange>(parameters_, LaneChangeModuleType::NORMAL, direction_));
 }
 

diff --git a/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp b/...common/include/autoware/behavior_path_planner_common/interface/scene_module_interface.hpp
@@ -90,15 +90,15 @@ class SceneModuleInterface
     const std::string & name, rclcpp::Node & node,
     std::unordered_map<std::string, std::shared_ptr<RTCInterface>> rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>>
-      objects_of_interest_marker_interface_ptr_map)
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
   : name_{name},
     logger_{node.get_logger().get_child(name)},
     clock_{node.get_clock()},
     rtc_interface_ptr_map_(std::move(rtc_interface_ptr_map)),
     objects_of_interest_marker_interface_ptr_map_(
       std::move(objects_of_interest_marker_interface_ptr_map)),
-    steering_factor_interface_ptr_(
-      std::make_unique<SteeringFactorInterface>(&node, utils::convertToSnakeCase(name))),
+    steering_factor_interface_ptr_{steering_factor_interface_ptr},
     time_keeper_(std::make_shared<universe_utils::TimeKeeper>())
   {
     for (const auto & [module_name, ptr] : rtc_interface_ptr_map_) {
@@ -640,7 +640,7 @@ class SceneModuleInterface
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>>
     objects_of_interest_marker_interface_ptr_map_;
 
-  std::unique_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
+  std::shared_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
 
   mutable std::optional<Pose> stop_pose_{std::nullopt};
 

diff --git a/...nclude/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp b/...nclude/autoware/behavior_path_planner_common/interface/scene_module_manager_interface.hpp
@@ -315,6 +315,12 @@ class SceneModuleManagerInterface
         "~/processing_time/" + name_, 20);
     }
 
+    // init steering factor
+    {
+      steering_factor_interface_ptr_ =
+        std::make_shared<SteeringFactorInterface>(node, utils::convertToSnakeCase(name_));
+    }
+
     // misc
     {
       node_ = node;
@@ -339,6 +345,8 @@ class SceneModuleManagerInterface
 
   std::shared_ptr<PlannerData> planner_data_;
 
+  std::shared_ptr<SteeringFactorInterface> steering_factor_interface_ptr_;
+
   std::vector<SceneModuleObserver> observers_;
 
   std::unique_ptr<SceneModuleInterface> idle_module_ptr_;

diff --git a/...ampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp b/...ampling_planner_module/include/autoware/behavior_path_sampling_planner_module/manager.hpp
@@ -38,7 +38,7 @@ class SamplingPlannerModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<SamplingPlannerModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
   }
 
   void updateModuleParams(

diff --git a/...module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp b/...module/include/autoware/behavior_path_sampling_planner_module/sampling_planner_module.hpp
@@ -86,7 +86,8 @@ class SamplingPlannerModule : public SceneModuleInterface
     const std::shared_ptr<SamplingPlannerParameters> & parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
 
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;

diff --git a/...th_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp b/...th_planner/autoware_behavior_path_sampling_planner_module/src/sampling_planner_module.cpp
@@ -33,8 +33,9 @@ SamplingPlannerModule::SamplingPlannerModule(
   const std::shared_ptr<SamplingPlannerParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr},  // NOLINT
   vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()}
 {
   internal_params_ = std::make_shared<SamplingPlannerInternalParameters>();

diff --git a/...avior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp b/...avior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/manager.hpp
@@ -39,7 +39,7 @@ class SideShiftModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<SideShiftModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

diff --git a/...ehavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp b/...ehavior_path_side_shift_module/include/autoware/behavior_path_side_shift_module/scene.hpp
@@ -45,7 +45,8 @@ class SideShiftModule : public SceneModuleInterface
     const std::shared_ptr<SideShiftParameters> & parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
 
   bool isExecutionRequested() const override;
   bool isExecutionReady() const override;

diff --git a/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp b/planning/behavior_path_planner/autoware_behavior_path_side_shift_module/src/scene.cpp
@@ -40,8 +40,9 @@ SideShiftModule::SideShiftModule(
   const std::shared_ptr<SideShiftParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr},  // NOLINT
   parameters_{parameters}
 {
 }

diff --git a/...path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp b/...path_start_planner_module/include/autoware/behavior_path_start_planner_module/manager.hpp
@@ -38,7 +38,7 @@ class StartPlannerModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<StartPlannerModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

diff --git a/...anner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp b/...anner_module/include/autoware/behavior_path_start_planner_module/start_planner_module.hpp
@@ -88,7 +88,8 @@ class StartPlannerModule : public SceneModuleInterface
     const std::shared_ptr<StartPlannerParameters> & parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
 
   ~StartPlannerModule() override
   {

diff --git a/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp b/...ior_path_planner/autoware_behavior_path_start_planner_module/src/start_planner_module.cpp
@@ -59,8 +59,9 @@ StartPlannerModule::StartPlannerModule(
   const std::shared_ptr<StartPlannerParameters> & parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr},  // NOLINT
   parameters_{parameters},
   vehicle_info_{autoware::vehicle_info_utils::VehicleInfoUtils(node).getVehicleInfo()},
   is_freespace_planner_cb_running_{false}

diff --git a/...idance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp b/...idance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/manager.hpp
@@ -41,7 +41,7 @@ class StaticObstacleAvoidanceModuleManager : public SceneModuleManagerInterface
   {
     return std::make_unique<StaticObstacleAvoidanceModule>(
       name_, *node_, parameters_, rtc_interface_ptr_map_,
-      objects_of_interest_marker_interface_ptr_map_);
+      objects_of_interest_marker_interface_ptr_map_, steering_factor_interface_ptr_);
   }
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;

diff --git a/...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp b/...voidance_module/include/autoware/behavior_path_static_obstacle_avoidance_module/scene.hpp
@@ -46,7 +46,8 @@ class StaticObstacleAvoidanceModule : public SceneModuleInterface
     const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters,
     const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
     std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-      objects_of_interest_marker_interface_ptr_map);
+      objects_of_interest_marker_interface_ptr_map,
+    std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr);
 
   CandidateOutput planCandidate() const override;
   BehaviorModuleOutput plan() override;

diff --git a/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp b/...havior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/src/scene.cpp
@@ -76,8 +76,9 @@ StaticObstacleAvoidanceModule::StaticObstacleAvoidanceModule(
   const std::string & name, rclcpp::Node & node, std::shared_ptr<AvoidanceParameters> parameters,
   const std::unordered_map<std::string, std::shared_ptr<RTCInterface>> & rtc_interface_ptr_map,
   std::unordered_map<std::string, std::shared_ptr<ObjectsOfInterestMarkerInterface>> &
-    objects_of_interest_marker_interface_ptr_map)
-: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map},  // NOLINT
+    objects_of_interest_marker_interface_ptr_map,
+  std::shared_ptr<SteeringFactorInterface> & steering_factor_interface_ptr)
+: SceneModuleInterface{name, node, rtc_interface_ptr_map, objects_of_interest_marker_interface_ptr_map, steering_factor_interface_ptr},  // NOLINT
   helper_{std::make_shared<AvoidanceHelper>(parameters)},
   parameters_{parameters},
   generator_{parameters}