From 82b36b821cbe2a11ee851ecb6516c9fbd976054f Mon Sep 17 00:00:00 2001
From: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>
Date: Mon, 10 Jun 2024 17:20:24 +0900
Subject: [PATCH] feat(planning_validator): use polling subscriber (#7356)

* use polling subscriber

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
---
 .../autoware_planning_validator/planning_validator.hpp      | 4 +++-
 planning/planning_validator/src/planning_validator.cpp      | 6 +++---
 2 files changed, 6 insertions(+), 4 deletions(-)

diff --git a/planning/planning_validator/include/autoware_planning_validator/planning_validator.hpp b/planning/planning_validator/include/autoware_planning_validator/planning_validator.hpp
index fa0b116eafe86..b2a9c8f2e94a4 100644
--- a/planning/planning_validator/include/autoware_planning_validator/planning_validator.hpp
+++ b/planning/planning_validator/include/autoware_planning_validator/planning_validator.hpp
@@ -19,6 +19,7 @@
 #include "autoware_planning_validator/msg/planning_validator_status.hpp"
 #include "autoware_vehicle_info_utils/vehicle_info_utils.hpp"
 #include "tier4_autoware_utils/ros/logger_level_configure.hpp"
+#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 #include "tier4_autoware_utils/system/stop_watch.hpp"
 
 #include <diagnostic_updater/diagnostic_updater.hpp>
@@ -102,7 +103,8 @@ class PlanningValidator : public rclcpp::Node
 
   void setStatus(DiagnosticStatusWrapper & stat, const bool & is_ok, const std::string & msg);
 
-  rclcpp::Subscription<Odometry>::SharedPtr sub_kinematics_;
+  tier4_autoware_utils::InterProcessPollingSubscriber<Odometry> sub_kinematics_{
+    this, "~/input/kinematics"};
   rclcpp::Subscription<Trajectory>::SharedPtr sub_traj_;
   rclcpp::Publisher<Trajectory>::SharedPtr pub_traj_;
   rclcpp::Publisher<PlanningValidatorStatus>::SharedPtr pub_status_;
diff --git a/planning/planning_validator/src/planning_validator.cpp b/planning/planning_validator/src/planning_validator.cpp
index 420ee564cda72..9f54547eb62e1 100644
--- a/planning/planning_validator/src/planning_validator.cpp
+++ b/planning/planning_validator/src/planning_validator.cpp
@@ -32,9 +32,6 @@ PlanningValidator::PlanningValidator(const rclcpp::NodeOptions & options)
 {
   using std::placeholders::_1;
 
-  sub_kinematics_ = create_subscription<Odometry>(
-    "~/input/kinematics", 1,
-    [this](const Odometry::ConstSharedPtr msg) { current_kinematics_ = msg; });
   sub_traj_ = create_subscription<Trajectory>(
     "~/input/trajectory", 1, std::bind(&PlanningValidator::onTrajectory, this, _1));
 
@@ -195,6 +192,9 @@ void PlanningValidator::onTrajectory(const Trajectory::ConstSharedPtr msg)
 
   current_trajectory_ = msg;
 
+  // receive data
+  current_kinematics_ = sub_kinematics_.takeData();
+
   if (!isDataReady()) return;
 
   if (publish_diag_ && !diag_updater_) {