planning: remove to load fake routing.

modules/planning/common/planning_gflags.cc

@@ -334,8 +334,6 @@ DEFINE_string(planning_config_file,
 DEFINE_int32(trajectory_point_num_for_debug, 10,
              "number of output trajectory points for debugging");
 
-DEFINE_string(offline_routing_file, "modules/map/data/garage_routing.pb.txt",
-              "offline routing file");
 DEFINE_double(backward_routing_distance, 100.0,
               "The backward routing distance.");
 DEFINE_double(decision_valid_stop_range, 0.5,

modules/planning/common/planning_gflags.h

@@ -219,7 +219,6 @@ DECLARE_double(max_deacceleration_for_red_light_stop);
 DECLARE_double(max_deacceleration_for_yellow_light_stop);
 
 DECLARE_int32(trajectory_point_num_for_debug);
-DECLARE_string(offline_routing_file);
 DECLARE_double(backward_routing_distance);
 DECLARE_double(decision_valid_stop_range);
 

modules/planning/planning.cc

@@ -108,18 +108,6 @@ Status Planning::Init() {
     AERROR << error_msg;
     return Status(ErrorCode::PLANNING_ERROR, error_msg);
   }
-  // TODO(all) temporarily use the offline routing data.
-  if (!AdapterManager::GetRoutingResponse()->HasReceived()) {
-    if (!AdapterManager::GetRoutingResponse()->FeedFile(
-            FLAGS_offline_routing_file)) {
-      auto error_msg = common::util::StrCat(
-          "Failed to load offline routing file ", FLAGS_offline_routing_file);
-      AERROR << error_msg;
-      return Status(ErrorCode::PLANNING_ERROR, error_msg);
-    } else {
-      AWARN << "Using offline routing file " << FLAGS_offline_routing_file;
-    }
-  }
   if (AdapterManager::GetPrediction() == nullptr) {
     std::string error_msg("Prediction is not registered");
     AERROR << error_msg;