fix(mission_planner): set goal in shoulder lane #2548
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This was referenced Dec 20, 2022
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hi @kosuke55, with this PR goal footprint will not checked at shoulder lanelet. Let discuss #2546 (comment) It make more sense to me update default map shoulder lanelet's width greater than vehicle length. What do you think? You can visualize goal pose footprint on this topic: |
Codecov ReportBase: 10.55% // Head: 10.55% // No change to project coverage 👍
Additional details and impacted files@@ Coverage Diff @@
## main #2548 +/- ##
=======================================
Coverage 10.55% 10.55%
=======================================
Files 1267 1267
Lines 87598 87598
Branches 20938 20938
=======================================
Hits 9242 9242
Misses 68493 68493
Partials 9863 9863
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Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: kosuke55 <[email protected]>
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) * fix(mission_planner): set goal in shoulder lane Signed-off-by: kosuke55 <[email protected]> * fix map without shoulder lane Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]>
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) * fix(mission_planner): set goal in shoulder lane Signed-off-by: kosuke55 <[email protected]> * fix map without shoulder lane Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]>
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) (#223) * fix(mission_planner): set goal in shoulder lane Signed-off-by: kosuke55 <[email protected]> * fix map without shoulder lane Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]>
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) * fix(mission_planner): set goal in shoulder lane Signed-off-by: kosuke55 <[email protected]> * fix map without shoulder lane Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kosuke55 <[email protected]> Signed-off-by: kminoda <[email protected]>
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Description
With #2088, goal can not be set in shoulder lane.
goal_in_shoulder-2022-12-21_03.38.02.mp4
In this PR, check goal for shoulder at first in
is_goal_valid.Related links
#2088
Tests performed
psim
goal_in_shoulder-2022-12-21_03.50.27.mp4
tier4 internal scenario test
816/825
(result of 2022/12/21 daily test : 812/825)
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