fix(behavior_path_planner): fix planner data copy (autowarefoundation…

…#2501) Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com>
HansRobo · Dec 14, 2022 · ed992b1 · ed992b1
1 parent 0c6c46b
commit ed992b1
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/planning/behavior_path_planner/src/behavior_path_planner_node.cpp b/planning/behavior_path_planner/src/behavior_path_planner_node.cpp
@@ -618,7 +618,11 @@ void BehaviorPathPlannerNode::run()
   // update planner data
   planner_data_->self_pose = self_pose_listener_.getCurrentPose();
 
-  const auto planner_data = planner_data_;
+  const auto planner_data = std::make_shared<PlannerData>(*planner_data_);
+
+  // unlock planner data
+  mutex_pd_.unlock();
+
   // run behavior planner
   const auto output = bt_manager_->run(planner_data);
 
@@ -631,9 +635,6 @@ void BehaviorPathPlannerNode::run()
   // compute turn signal
   computeTurnSignal(planner_data, *path, output);
 
-  // unlock planner data
-  mutex_pd_.unlock();
-
   // publish drivable bounds
   publish_bounds(*path);