fix(goal_planner): fixed goal memory leak (#5381)

Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Oct 23, 2023 · 20c0d15 · 20c0d15
1 parent 69813cb
commit 20c0d15
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Showing 2 changed files with 3 additions and 7 deletions.
diff --git a/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp b/...h_planner/include/behavior_path_planner/scene_module/goal_planner/goal_planner_module.hpp
@@ -166,12 +166,6 @@ class PullOverStatus
   DEFINE_SETTER_GETTER(std::vector<PullOverPath>, pull_over_path_candidates)
   DEFINE_SETTER_GETTER(std::optional<Pose>, closest_start_pose)
 
-  void push_goal_candidate(const GoalCandidate & goal_candidate)
-  {
-    std::lock_guard<std::mutex> lock(mutex_);
-    goal_candidates_.push_back(goal_candidate);
-  }
-
 private:
   std::shared_ptr<PullOverPath> pull_over_path_{nullptr};
   std::shared_ptr<PullOverPath> lane_parking_pull_over_path_{nullptr};

diff --git a/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp b/planning/behavior_path_planner/src/scene_module/goal_planner/goal_planner_module.cpp
@@ -560,7 +560,9 @@ void GoalPlannerModule::generateGoalCandidates()
     GoalCandidate goal_candidate{};
     goal_candidate.goal_pose = goal_pose;
     goal_candidate.distance_from_original_goal = 0.0;
-    status_.push_goal_candidate(goal_candidate);
+    GoalCandidates goal_candidates{};
+    goal_candidates.push_back(goal_candidate);
+    status_.set_goal_candidates(goal_candidates);
   }
 }