feat(dynamic_avoidance): always launch the module when requested (#5900)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Dec 19, 2023 · 1837f6b · 1837f6b
1 parent 320bc2f
commit 1837f6b
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diff --git a/...ior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp b/...ior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/manager.hpp
@@ -44,6 +44,8 @@ class DynamicAvoidanceModuleManager : public SceneModuleManagerInterface
 
   void updateModuleParams(const std::vector<rclcpp::Parameter> & parameters) override;
 
+  bool isAlwaysExecutableModule() const override;
+
 private:
   std::shared_ptr<DynamicAvoidanceParameters> parameters_;
 };

diff --git a/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp b/planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp
@@ -255,6 +255,11 @@ void DynamicAvoidanceModuleManager::updateModuleParams(
     if (!observer.expired()) observer.lock()->updateModuleParams(p);
   });
 }
+
+bool DynamicAvoidanceModuleManager::isAlwaysExecutableModule() const
+{
+  return true;
+}
 }  // namespace behavior_path_planner
 
 #include <pluginlib/class_list_macros.hpp>