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feat(avoidance): keep stopping until all shift lines are registered #5658
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feat(avoidance): keep stopping until all shift lines are registered #5658
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LGTM
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LGTM
Signed-off-by: satoshi-ota <[email protected]>
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Description
🤖[deprecated] Generated by Copilot at abf7691
This pull request adds a feature to the
AvoidanceModule
that allows the vehicle to request approval from the RTC for the avoidance maneuver based on a configurable policy. The policy can be set to eithershift_line
ormaneuver
in theavoidance.param.yaml
file.Please reveiw following PR at first:
autowarefoundation/autoware_launch#699
Previously, avoidance module made rtc requests for each shift line. Then, operator had to approve several times to avoid object and return original lane during driving.
In this PR, I added new option in order to execute avoidance maneuver by only once approval manupulation. If the parameter
policy.approval
is set tomaneuver
, the module makes requests per avoidance maneuver (avoid + return).policy.approval: shift_line
simplescreenrecorder-2023-11-24_09.02.53.mp4
policy.approval: maneuver
simplescreenrecorder-2023-11-24_09.05.38.mp4
Tests performed
Effects on system behavior
Not applicable.
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