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fix(behavior_path_planner): fix planner data copy #2501

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merged 1 commit into from
Dec 14, 2022
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fix(behavior_path_planner): fix planner data copy #2501

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9 changes: 5 additions & 4 deletions planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand All @@ -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);

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