remove blocking mutex lock when processing traffic lights

maxime-clem · maxime-clem · commit c082d5bf5ad5 · 2024-06-05T15:56:12.000+09:00
Signed-off-by: Maxime CLEMENT &lt;maxime.clement@tier4.jp&gt;
diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
@@ -214,8 +214,6 @@ void MotionVelocityPlannerNode::on_lanelet_map(
 void MotionVelocityPlannerNode::process_traffic_signals(
   const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg)
 {
-  std::lock_guard<std::mutex> lock(mutex_);
-
   // clear previous observation
   planner_data_.traffic_light_id_map_raw_.clear();
   const auto traffic_light_id_map_last_observed_old =

Original file line number	Diff line number	Diff line change
`@@ -214,8 +214,6 @@ void MotionVelocityPlannerNode::on_lanelet_map(`
`214`	`214`	`void MotionVelocityPlannerNode::process_traffic_signals(`
`215`	`215`	`const autoware_perception_msgs::msg::TrafficLightGroupArray::ConstSharedPtr msg)`
`216`	`216`	`{`
`217`		`- std::lock_guard<std::mutex> lock(mutex_);`
`218`		`-`
`219`	`217`	`// clear previous observation`
`220`	`218`	`planner_data_.traffic_light_id_map_raw_.clear();`
`221`	`219`	`const auto traffic_light_id_map_last_observed_old =`