tier4 · TauTheLepton · Jul 2, 2024 · Jul 2, 2024 · Jul 2, 2024 · Jul 2, 2024
diff --git a/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp b/mock/cpp_mock_scenarios/src/behavior_plugin/load_do_nothing_plugin.cpp
@@ -57,6 +57,8 @@ class LoadDoNothingPluginScenario : public cpp_mock_scenarios::CppScenarioNode
     api_.resetBehaviorPlugin(
       "pedestrian_spawn_with_behavior_tree",
       traffic_simulator::entity::PedestrianEntity::BuiltinBehavior::doNothing());
+
+    /// @note After the reset, the Entity objects are invalidated, so we need to obtain new ones.
     if (
       api_.getEntity("vehicle_spawn_with_behavior_tree").getCurrentAction() != "do_nothing" ||
       api_.getEntity("pedestrian_spawn_with_behavior_tree").getCurrentAction() != "do_nothing") {

diff --git a/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp b/mock/cpp_mock_scenarios/src/collision/crashing_npc.cpp
@@ -51,20 +51,18 @@ class CrashingNpcScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(0.0);
     ego_entity.requestSpeedChange(15, true);
     traffic_simulator_msgs::msg::BehaviorParameter behavior_parameter;
     behavior_parameter.see_around = false;
     ego_entity.setBehaviorParameter(behavior_parameter);
 
-    api_.spawn(
+    auto & npc_entity = api_.spawn(
       "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
-    auto & npc_entity = api_.getEntity("npc");
     npc_entity.setLinearVelocity(0.0);
     npc_entity.requestSpeedChange(5, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp b/mock/cpp_mock_scenarios/src/collision/spawn_with_offset.cpp
@@ -49,17 +49,15 @@ class SpawnWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
 
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.2, 1.3),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(0);
     ego_entity.requestSpeedChange(0, true);
 
-    api_.spawn(
+    auto & bob_entity = api_.spawn(
       "bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, -0.874),
       getPedestrianParameters());
-    auto & bob_entity = api_.getEntity("bob");
     bob_entity.setLinearVelocity(0);
     bob_entity.requestSpeedChange(0, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp b/mock/cpp_mock_scenarios/src/crosswalk/stop_at_crosswalk.cpp
@@ -74,20 +74,18 @@ class StopAtCrosswalkScenario : public cpp_mock_scenarios::CppScenarioNode
 
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(8, true);
     ego_entity.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
       traffic_simulator::helper::constructCanonicalizedLaneletPose(34675, 0.0, 0.0),
       traffic_simulator::helper::constructCanonicalizedLaneletPose(34690, 0.0, 0.0)});
 
-    api_.spawn(
+    auto & bob_entity = api_.spawn(
       "bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 0.0, 0.0),
       getPedestrianParameters());
-    auto & bob_entity = api_.getEntity("bob");
     bob_entity.setLinearVelocity(0);
     bob_entity.requestSpeedChange(
       1.0, traffic_simulator::speed_change::Transition::LINEAR,

diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/accelerate_and_follow.cpp
@@ -57,15 +57,14 @@ class AccelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
-    api_.getEntity("ego").setLinearVelocity(3);
+    ego_entity.setLinearVelocity(3);
 
-    api_.spawn(
+    auto & npc_entity = api_.spawn(
       "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
-    auto & npc_entity = api_.getEntity("npc");
     npc_entity.setLinearVelocity(10);
     npc_entity.requestSpeedChange(10, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp b/mock/cpp_mock_scenarios/src/follow_front_entity/decelerate_and_follow.cpp
@@ -57,15 +57,14 @@ class DecelerateAndFollowScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
-    api_.getEntity("ego").setLinearVelocity(15);
+    ego_entity.setLinearVelocity(15);
 
-    api_.spawn(
+    auto & npc_entity = api_.spawn(
       "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 15.0, 0.0),
       getVehicleParameters());
-    auto & npc_entity = api_.getEntity("npc");
     npc_entity.setLinearVelocity(10);
     npc_entity.requestSpeedChange(10, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/acquire_position_in_world_frame.cpp
@@ -46,10 +46,9 @@ class AcquirePositionInWorldFrameScenario : public cpp_mock_scenarios::CppScenar
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setStatus(
       traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
       traffic_simulator::helper::constructActionStatus(10));

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp b/mock/cpp_mock_scenarios/src/follow_lane/assign_route_in_world_frame.cpp
@@ -46,10 +46,9 @@ class AcquireRouteInWorldFrameScenario : public cpp_mock_scenarios::CppScenarioN
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     std::vector<geometry_msgs::msg::Pose> goal_poses;

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp b/mock/cpp_mock_scenarios/src/follow_lane/cancel_request.cpp
@@ -51,10 +51,9 @@ class CancelRequestScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(7);
     ego_entity.requestSpeedChange(7, true);
     const geometry_msgs::msg::Pose goal_pose = traffic_simulator::pose::toMapPose(

diff --git a/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp b/mock/cpp_mock_scenarios/src/follow_lane/follow_with_offset.cpp
@@ -50,10 +50,9 @@ class FollowLaneWithOffsetScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 3.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
   }

diff --git a/...ock_scenarios/src/follow_trajectory/follow_polyline_trajectory_with_do_nothing_plugin.cpp b/...ock_scenarios/src/follow_trajectory/follow_polyline_trajectory_with_do_nothing_plugin.cpp
@@ -97,10 +97,9 @@ class FollowPolylineTrajectoryWithDoNothingPluginScenario
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", spawn_pose, getVehicleParameters(),
       traffic_simulator::entity::VehicleEntity::BuiltinBehavior::doNothing());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestFollowTrajectory(

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left.cpp
@@ -50,10 +50,9 @@ class LaneChangeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(traffic_simulator::lane_change::Direction::LEFT);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_left_with_id.cpp
@@ -50,10 +50,9 @@ class LaneChangeLeftWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(34513);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear.cpp
@@ -55,10 +55,9 @@ class LaneChangeLinearScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_lateral_velocity.cpp
@@ -59,10 +59,9 @@ class LaneChangeLinearLateralVelocityScenario : public cpp_mock_scenarios::CppSc
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_linear_time.cpp
@@ -60,10 +60,9 @@ class LaneChangeLinearTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_longitudinal_distance.cpp
@@ -46,10 +46,9 @@ class LaneChangeLongitudinalDistanceScenario : public cpp_mock_scenarios::CppSce
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(1);
     ego_entity.requestSpeedChange(1, true);
     ego_entity.requestLaneChange(

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right.cpp
@@ -50,10 +50,9 @@ class LaneChangeRightScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(traffic_simulator::lane_change::Direction::RIGHT);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_right_with_id.cpp
@@ -50,10 +50,9 @@ class LaneChangeRightWithIdScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(34462);

diff --git a/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp b/mock/cpp_mock_scenarios/src/lane_change/lanechange_time.cpp
@@ -60,10 +60,9 @@ class LaneChangeTimeScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 10.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(10, true);
     ego_entity.requestLaneChange(

diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_in_lane_coordinate_distance.cpp
@@ -137,24 +137,21 @@ class GetDistanceInLaneCoordinateScenario : public cpp_mock_scenarios::CppScenar
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 5.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(3, true);
 
-    api_.spawn(
+    auto & front_entity = api_.spawn(
       "front", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 10.0, 1.0),
       getVehicleParameters());
-    auto & front_entity = api_.getEntity("front");
     front_entity.setLinearVelocity(10);
     front_entity.requestSpeedChange(3, true);
 
-    api_.spawn(
+    auto & behind_entity = api_.spawn(
       "behind", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, -1.0),
       getVehicleParameters());
-    auto & behind_entity = api_.getEntity("behind");
     behind_entity.setLinearVelocity(10);
     behind_entity.requestSpeedChange(3, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp b/mock/cpp_mock_scenarios/src/measurement/get_distance_to_lane_bound.cpp
@@ -55,10 +55,9 @@ class GetDistanceToLaneBoundScenario : public cpp_mock_scenarios::CppScenarioNod
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 5.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(3, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/merge/merge_left.cpp b/mock/cpp_mock_scenarios/src/merge/merge_left.cpp
@@ -53,18 +53,17 @@ class MergeLeftScenario : public cpp_mock_scenarios::CppScenarioNode
   }
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34462, 15.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(5);
     ego_entity.requestSpeedChange(5, true);
     ego_entity.requestLaneChange(34513);
 
-    api_.spawn(
+    auto & npc_entity = api_.spawn(
       "npc", traffic_simulator::helper::constructCanonicalizedLaneletPose(34513, 0.0, 0.0),
       getVehicleParameters());
-    api_.getEntity("npc").setLinearVelocity(10);
+    npc_entity.setLinearVelocity(10);
   }
 };
 }  // namespace cpp_mock_scenarios

diff --git a/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp b/mock/cpp_mock_scenarios/src/metrics/traveled_distance.cpp
@@ -59,10 +59,9 @@ class TraveledDistanceScenario : public cpp_mock_scenarios::CppScenarioNode
 
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(3);
     ego_entity.requestSpeedChange(3, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp b/mock/cpp_mock_scenarios/src/move_backward/move_backward.cpp
@@ -50,10 +50,9 @@ class MoveBackwardScenario : public cpp_mock_scenarios::CppScenarioNode
 
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(34741, 0.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(-3);
     ego_entity.requestSpeedChange(-3, true);
   }

diff --git a/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp b/mock/cpp_mock_scenarios/src/pedestrian/walk_straight.cpp
@@ -69,19 +69,17 @@ class WalkStraightScenario : public cpp_mock_scenarios::CppScenarioNode
 
   void onInitialize() override
   {
-    api_.spawn(
+    auto & ego_entity = api_.spawn(
       "ego", traffic_simulator::helper::constructCanonicalizedLaneletPose(120545, 0.0, 0.0),
       getVehicleParameters());
-    auto & ego_entity = api_.getEntity("ego");
     ego_entity.setLinearVelocity(10);
     ego_entity.requestSpeedChange(8, true);
     ego_entity.requestAssignRoute(std::vector<traffic_simulator::CanonicalizedLaneletPose>{
       traffic_simulator::helper::constructCanonicalizedLaneletPose(34675, 0.0, 0.0),
       traffic_simulator::helper::constructCanonicalizedLaneletPose(34690, 0.0, 0.0)});
-    api_.spawn(
+    auto & bob_entity = api_.spawn(
       "bob", traffic_simulator::helper::constructCanonicalizedLaneletPose(34378, 0.0, 0.0),
       getPedestrianParameters());
-    auto & bob_entity = api_.getEntity("bob");
     bob_entity.setLinearVelocity(0);
     bob_entity.requestWalkStraight();
     bob_entity.requestSpeedChange(