fix ci

Signed-off-by: Mamoru Sobue <[email protected]>
autowarefoundation · Dec 15, 2024 · 83e3f8f · 83e3f8f
1 parent f0f215c
commit 83e3f8f
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Showing 3 changed files with 5 additions and 10 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
@@ -498,7 +498,6 @@ void FreespaceParkingPlanner::onTimer()
   const auto & current_status = local_request.get_current_status();
   const auto & pull_over_path_opt = local_request.get_pull_over_path();
   const auto & last_path_update_time = local_request.get_last_path_update_time();
-  const auto & occupancy_grid_map = local_request.get_occupancy_grid_map();
 
   if (current_status == ModuleStatus::IDLE) {
     return;
@@ -1690,11 +1689,10 @@ PathWithLaneId GoalPlannerModule::generateStopPath(
   // 4. feasible stop
   const auto stop_pose_opt = std::invoke([&]() -> std::optional<Pose> {
     if (context_data.pull_over_path_opt)
-      return context_data.pull_over_path_opt.value().start_pose();
+      return std::make_optional<Pose>(context_data.pull_over_path_opt.value().start_pose());
     if (context_data.lane_parking_response.closest_start_pose)
-      return context_data.lane_parking_response.closest_start_pose.value();
-    if (!decel_pose) return std::nullopt;
-    return decel_pose.value();
+      return context_data.lane_parking_response.closest_start_pose;
+    return decel_pose;
   });
   if (!stop_pose_opt.has_value()) {
     const auto feasible_stop_path =

diff --git a/.../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp b/.../autoware_behavior_path_goal_planner_module/src/pull_over_planner/geometric_pull_over.cpp
@@ -78,9 +78,6 @@ std::optional<PullOverPath> GeometricPullOver::plan(
   auto pull_over_path_opt = PullOverPath::create(
     getPlannerType(), id, planner_.getPaths(), planner_.getStartPose(), modified_goal_pose,
     planner_.getPairsTerminalVelocityAndAccel());
-  if (!pull_over_path_opt) {
-    return {};
-  }
-  return pull_over_path_opt.value();
+  return pull_over_path_opt;
 }
 }  // namespace autoware::behavior_path_planner
diff --git a/...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp b/...nner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/shift_pull_over.cpp
@@ -67,7 +67,7 @@ std::optional<PullOverPath> ShiftPullOver::plan(
       modified_goal_pose, id, planner_data, previous_module_output, road_lanes, pull_over_lanes,
       lateral_jerk);
     if (!pull_over_path) continue;
-    return *pull_over_path;
+    return pull_over_path;
   }
 
   return {};