From f3fb4fac958f8d27c479b6a7d2e45519cde021cc Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Fri, 8 Nov 2024 18:29:00 +0900
Subject: [PATCH] fix(crosswalk): don't use vehicle stop checker to remove
 unnecessary callback (#9234) (#1630)

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
---
 .../src/scene_crosswalk.cpp                                  | 5 +----
 .../src/scene_crosswalk.hpp                                  | 3 ---
 2 files changed, 1 insertion(+), 7 deletions(-)

diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
index f56552485b5fc..c25b3cb75f149 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.cpp
@@ -201,8 +201,6 @@ CrosswalkModule::CrosswalkModule(
 
   collision_info_pub_ =
     node.create_publisher<tier4_debug_msgs::msg::StringStamped>("~/debug/collision_info", 1);
-
-  vehicle_stop_checker_ = std::make_unique<autoware::motion_utils::VehicleStopChecker>(&node);
 }
 
 bool CrosswalkModule::modifyPathVelocity(PathWithLaneId * path, StopReason * stop_reason)
@@ -1389,8 +1387,7 @@ void CrosswalkModule::planStop(
 bool CrosswalkModule::checkRestartSuppression(
   const PathWithLaneId & ego_path, const std::optional<StopFactor> & stop_factor) const
 {
-  const auto is_vehicle_stopped = vehicle_stop_checker_->isVehicleStopped();
-  if (!is_vehicle_stopped) {
+  if (!planner_data_->isVehicleStopped()) {
     return false;
   }
 
diff --git a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
index cd4b8eb46af6c..0747fc725f444 100644
--- a/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
+++ b/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/src/scene_crosswalk.hpp
@@ -18,7 +18,6 @@
 #include "autoware/behavior_velocity_crosswalk_module/util.hpp"
 
 #include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
-#include <autoware/motion_utils/vehicle/vehicle_state_checker.hpp>
 #include <autoware/universe_utils/geometry/boost_geometry.hpp>
 #include <autoware/universe_utils/system/stop_watch.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/crosswalk.hpp>
@@ -466,8 +465,6 @@ class CrosswalkModule : public SceneModuleInterface
   // Debug
   mutable DebugData debug_data_;
 
-  std::unique_ptr<autoware::motion_utils::VehicleStopChecker> vehicle_stop_checker_{nullptr};
-
   // Stop watch
   StopWatch<std::chrono::milliseconds> stop_watch_;