Lookahead Traffic Behavior

[mxgrey]

We have added some experimental support for a "lookahead" feature that helps smooth out the traffic system when robots need to pass through a specific sequence of waypoints without having exclusive ownership of those waypoints. The experimental implementation avoids making any changes to the existing system workflow, and as a result it's abusing some of the negotiation and traffic dependency concepts.

We should rework the traffic system to make this lookahead a first-class citizen in the traffic schedule. We would redefine traffic conflicts as occurring when the current intended trajectory of a robot conflicts with the current intended trajectory or lookahead trajectory of another robot. Conflicts between lookahead trajectories will be ignored.