obstacle_stop_planner does not work for backward driving #1697
Labels
component:planning
Route planning, decision-making, and navigation. (auto-assigned)
status:help-wanted
Assistance or contributors needed.
status:stale
Inactive or outdated issues. (auto-assigned)
Checklist
Description
obstacle_stop_planner
does not work for backward driving but publishes the path of the input as it is.autoware.universe/planning/obstacle_stop_planner/src/node.cpp
Lines 621 to 629 in fa25a2f
obstacle_cruise_planner
works for backward driving.pull_over
,pull_out
) generate backward path.Purpose
To enable stopping at obstacles when backward driving.
Possible approaches
Implement an algorithm to stop for obstacles on the backward path.
Definition of done
Ensure that it is possible to stop at obstacles when backward driving.
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