feat(route_hanler): handle waypoints in lanelet2 map #7222
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Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: Takayuki Murooka <[email protected]>
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* feat(route_hanler): handle waypoints in lanelet2 map Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
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Description
The behavior path planner generates the path by using the waypoints defined in a lanelet2 map.
I will write a document about this in two weeks.
Example of one waypoints on the left side
Example of two waypoints on the left side and then right side
Tests performed
psim on a lanelet2 map with waypoints.
scenario test
https://evaluation.tier4.jp/evaluation/reports/5cdf2eb1-6642-50f7-beef-fe668b723e77?project_id=prd_jt
Effects on system behavior
Nothing
Interface changes
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