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feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed #3928
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3928 +/- ##
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- Coverage 14.41% 14.40% -0.02%
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Files 1456 1456
Lines 102763 102893 +130
Branches 29782 29873 +91
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+ Hits 14812 14817 +5
- Misses 71768 71891 +123
- Partials 16183 16185 +2
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…nd keep candiate running module when approved module succeed Signed-off-by: kosuke55 <[email protected]>
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It seems the change is okay.
If the internal test is passed, you can merge this PR.
Signed-off-by: kosuke55 <[email protected]>
tier4 internal sceneario test paased! old archi https://evaluation.tier4.jp/evaluation/reports/fbd639d3-080a-5f66-8701-559bb1b770f2?project_id=prd_jt 1332 |
…nd keep candiate running module when approved module succeed (autowarefoundation#3928) * feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed Signed-off-by: kosuke55 <[email protected]> * fix pre commmit readability/braces Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> fix build Signed-off-by: kosuke55 <[email protected]>
…nd keep candiate running module when approved module succeed (autowarefoundation#3928) * feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed Signed-off-by: kosuke55 <[email protected]> * fix pre commmit readability/braces Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> fix build Signed-off-by: kosuke55 <[email protected]>
feat(behavior_path_planner): use module status idle before approval and keep candiate running module when approved module succeed autowarefoundation#3928
Description
when the approved module turns SUCCESS, clear candidate_modules.
ex) avoidance module is once approved as left_avoid(at this time avoidance module is still in candidate_modules), but if other approved module turn SUCCESS, cancel the left_avoid
For this problem, in this PR,
use
And, even if the approved module turns SUCCESS keep the RUNNING candidate modules.
Related links
tier4 internal slack
Tests performed
psim
kepp_running_candidate-2023-06-09_20.30.10.mp4
tier4 internal sceneario test
base_line 1331/1372(2023/06/19)
Notes for reviewers
please check LC+avoidance
Interface changes
not applicable
Effects on system behavior
not applicable
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