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feat(intersection): switch default/occlusion_first_stop when occlusion appeared/disappeared or approved/disapproved #3664
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feat(intersection): switch default/occlusion_first_stop when occlusion appeared/disappeared or approved/disapproved #3664
soblin
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Codecov ReportPatch coverage has no change and project coverage change:
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## main #3664 +/- ##
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- Coverage 13.77% 13.77% -0.01%
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Signed-off-by: Mamoru Sobue <[email protected]>
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Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
@takayuki5168 Please approve this PR. cc: @tkhmy |
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feat(intersection): switch default/occlusion_first_stop when occlusion appeared/disappeared or approved/disapproved (autowarefoundation#3664)
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Description
The temporal stop at the default stopline when occlusion is detected can be activated/deactivated by the RTC with this PR.
To simplify the logic, I removed the uuid for this temporal stop.
Related links
Tests performed
manual mode
If both intersection/intersection_occlusion is set to manual mode, there will be two intersection walls. One is "intersection" and the other is "intersection_occlusion". The "intersection" wall will disappear when deactivated.
manual_mode-2023-05-12_18.23.09.mp4
auto mode
intersection_occlusion works as before.
auto_mode-2023-05-12_18.19.53.mp4
The temporal "intersection" wall will disappear when deactivated.
auto_mode_with_override-2023-05-12_18.21.57.mp4
Notes for reviewers
Interface changes
when running intersection/intersection_occlusion in manual mode
Effects on system behavior
when running intersection/intersection_occlusion in manual mode
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