feat(route_handler): use start pose yaw and not lanelet length to select start lanelet #6550
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Signed-off-by: Daniel Sanchez <[email protected]>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #6550 +/- ##
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Coverage 14.78% 14.79%
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Files 1917 1917
Lines 132012 132000 -12
Branches 39228 39226 -2
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Hits 19523 19523
+ Misses 90699 90688 -11
+ Partials 21790 21789 -1
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…h to select start lanelet (autowarefoundation#6550)" This reverts commit 81d5374.
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…ect start lanelet (#6550) use start pose yaw and not lanelet length to select start lanelet Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: Kotaro Yoshimoto <[email protected]>
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…ect start lanelet (autowarefoundation#6550) use start pose yaw and not lanelet length to select start lanelet Signed-off-by: Daniel Sanchez <[email protected]> Signed-off-by: kaigohirao <[email protected]>
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…ect start lanelet (autowarefoundation#6550) use start pose yaw and not lanelet length to select start lanelet Signed-off-by: Daniel Sanchez <[email protected]>
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Description
Solves this issue: #6271
Currently, if the start pose of the ego overlaps several lanelets, the route handler chooses the shortest route, which might bring problem like the above linked issue. With this PR, the yaw difference between ego and lanelet is used instead.
Now with this PR, the selected start lanelet aligns better with the ego starting pose.
Examples:
Related links
#6271
Tests performed
PSim
Automated tests: TIER IV INTERNAL LINK [No degradation]
Notes for reviewers
Interface changes
Effects on system behavior
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