fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: takayuki5168

planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/package.xml

@@ -18,7 +18,6 @@
   <buildtool_depend>eigen3_cmake_module</buildtool_depend>
 
   <depend>autoware_behavior_velocity_planner_common</depend>
-  <depend>autoware_behavior_velocity_rtc_interface</depend>
   <depend>autoware_lanelet2_extension</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>

planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.cpp

@@ -69,17 +69,16 @@ void DetectionAreaModuleManager::launchNewModules(
   }
 }
 
-std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
+std::function<bool(const std::shared_ptr<SceneModuleInterface> &)>
 DetectionAreaModuleManager::getModuleExpiredFunction(
   const tier4_planning_msgs::msg::PathWithLaneId & path)
 {
   const auto detection_area_id_set = planning_utils::getRegElemIdSetOnPath<DetectionArea>(
     path, planner_data_->route_handler_->getLaneletMapPtr(), planner_data_->current_odometry->pose);
 
-  return
-    [detection_area_id_set](const std::shared_ptr<SceneModuleInterfaceWithRTC> & scene_module) {
-      return detection_area_id_set.count(scene_module->getModuleId()) == 0;
-    };
+  return [detection_area_id_set](const std::shared_ptr<SceneModuleInterface> & scene_module) {
+    return detection_area_id_set.count(scene_module->getModuleId()) == 0;
+  };
 }
 
 }  // namespace autoware::behavior_velocity_planner

planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/manager.hpp

@@ -19,7 +19,7 @@
 
 #include <autoware/behavior_velocity_planner_common/plugin_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/plugin_wrapper.hpp>
-#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
+#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
@@ -41,8 +41,8 @@ class DetectionAreaModuleManager : public SceneModuleManagerInterface<>
 
   void launchNewModules(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 
-  std::function<bool(const std::shared_ptr<SceneModuleInterfaceWithRTC> &)>
-  getModuleExpiredFunction(const tier4_planning_msgs::msg::PathWithLaneId & path) override;
+  std::function<bool(const std::shared_ptr<SceneModuleInterface> &)> getModuleExpiredFunction(
+    const tier4_planning_msgs::msg::PathWithLaneId & path) override;
 };
 
 class DetectionAreaModulePlugin : public PluginWrapper<DetectionAreaModuleManager>

planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.cpp

@@ -37,7 +37,7 @@ DetectionAreaModule::DetectionAreaModule(
   const lanelet::autoware::DetectionArea & detection_area_reg_elem,
   const PlannerParam & planner_param, const rclcpp::Logger & logger,
   const rclcpp::Clock::SharedPtr clock)
-: SceneModuleInterfaceWithRTC(module_id, logger, clock),
+: SceneModuleInterface(module_id, logger, clock),
   lane_id_(lane_id),
   detection_area_reg_elem_(detection_area_reg_elem),
   state_(State::GO),

planning/behavior_velocity_planner/autoware_behavior_velocity_detection_area_module/src/scene.hpp

@@ -23,8 +23,8 @@
 
 #define EIGEN_MPL2_ONLY
 #include <Eigen/Core>
+#include <autoware/behavior_velocity_planner_common/scene_module_interface.hpp>
 #include <autoware/behavior_velocity_planner_common/utilization/boost_geometry_helper.hpp>
-#include <autoware/behavior_velocity_rtc_interface/scene_module_interface_with_rtc.hpp>
 #include <autoware_lanelet2_extension/regulatory_elements/detection_area.hpp>
 #include <rclcpp/rclcpp.hpp>
 
@@ -38,7 +38,7 @@ using PathIndexWithPoint2d = std::pair<size_t, Point2d>;                // front
 using PathIndexWithOffset = std::pair<size_t, double>;                  // front index, offset
 using tier4_planning_msgs::msg::PathWithLaneId;
 
-class DetectionAreaModule : public SceneModuleInterfaceWithRTC
+class DetectionAreaModule : public SceneModuleInterface
 {
 public:
   enum class State { GO, STOP };