fix(start_planner): fix path cut by U turn goal #4109
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kosuke55
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## main #4109 +/- ##
=======================================
Coverage 14.35% 14.35%
=======================================
Files 1569 1569
Lines 107991 108002 +11
Branches 31249 31249
=======================================
+ Hits 15498 15500 +2
- Misses 75639 75648 +9
Partials 16854 16854
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* fix(start_planner): fix path cut by U turn goal (autowarefoundation#4109) * fix(start_planner): fix path cut by U turn goal Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * cut path Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(behavior_path_planner): add getExtendedCurrentLanes with length args (autowarefoundation#4166) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix(goal_planner): support following lanes over the next lane (autowarefoundation#4167) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * feat(behavior_path_planner): add getCurrentLanes with length args (autowarefoundation#4108) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> --------- Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
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Description
Putting goal in after U-turn cut the path.
This is because current lanes is up to forward length and does not include the goal lane.
In this PR get curent lanes with max length to include goal lane.
Related links
tier4 internal ticket
#4108
Tests performed
psim
Notes for reviewers
Interface changes
none
Effects on system behavior
none
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