obstacle_stop_planner does not work for backward driving

[kosuke55]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

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

	// TODO(someone): support backward path
	const auto is_driving_forward = motion_utils::isDrivingForwardWithTwist(input_msg->points);
	is_driving_forward_ = is_driving_forward ? is_driving_forward.get() : is_driving_forward_;
	if (!is_driving_forward_) {
	RCLCPP_WARN_THROTTLE(
	get_logger(), *get_clock(), 3000, "Backward path is NOT supported. publish input as it is.");
	path_pub_->publish(*input_msg);
	return;
	}

• Only obstacle_cruise_planner works for backward driving.
• Some modules(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.

[kosuke55]

@mitsudome-r @TakaHoribe
Please allow me to share this as pull_over and pull_out will enable backward driving by default.

[kosuke55]

add the limitation for backward driving to docs of obstacle_stop_planner
#1696

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.