feat(start_planner): enable shift path lane departure check #803
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Signed-off-by: kyoichi-sugahara <[email protected]>
This was referenced Jan 18, 2024
maxime-clem
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Feb 6, 2024
…foundation#803) enable shift path lane departure check in start planner Signed-off-by: kyoichi-sugahara <[email protected]>
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Description
Enable shift path lane departure check.
This featured disabled in the PR
But this causes ploblem that start planner module generate path which leave lane. So enable this feature in this PR.
After enabling this feature this, path leaves from lane is not generated.
Screencast from 2024年01月18日 19時05分10秒.webm
Tests performed
Effects on system behavior
Not applicable.
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