Mamoru Sobue

@mkuri (1) renamed solver to smoother (2) added a flag for parameter initialization, so if the smoother's function was used without calling `setParam`, it will log warnings.

@mkuri I confirmed the existing smoother node is working as before in psim. Now it's merge ready.

cc: @kyoichi-sugahara

Here is the code to mock the data race before/after the fix ``` sudo apt-get install libtsan0-amd64-cross g++ -fsanitize=thread tsan.cpp ``` ``` #include #include #include #include #include #include using namespace...

NOTE - [last_previous_module_output_ is written in onTimer](https://github.com/autowarefoundation/autoware.universe/blob/8f67bc90a88e427de59715240ad933cd67fc2855/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp#L292) and read from the main thread of GoalPlannerModule, so I will move this to ThreadSafeData - [occupancy_grid_map_ is written in GoalPlannerModule::updateData through updateOccupancyGridMap](https://github.com/autowarefoundation/autoware.universe/blob/8f67bc90a88e427de59715240ad933cd67fc2855/planning/behavior_path_goal_planner_module/src/goal_planner_module.cpp#L139)...

Actually occupancy_grid_map_ ptr is thread safe, but it is no longer used in PullOverPlannerBase and its derived classes, so we can removed those members. For goal_searcher_, its only functionality is...

@beyzanurkaya @ismetatabay I believe at least this issue is already fixed in https://github.com/autowarefoundation/autoware.universe/pull/6346. Can you merge/rebase latest branch and them compare ? Thx

We can close this issue. I will work on refactoring in the future PRs

We can close this issue. I will work on refactoring in the future PRs

It looks like the map has no "turn_direction" tag for the intersection lane. I can see it because the blinker is not turned on when the vehicle turns left. In...