16.4.0

Description

Abstract

Specify allow_goal_modification option to goal via AcquirePositionAction.allow_goal_modification parameter

Background

Currently, we can specify allow_goal_modification option for autoware goal by using allowGoalModification property in ObjectController , but can not change the option goal by goal.

Details

Scenario specifications and actual output

If both allowGoalModification property (lagacy way) and AcquirePositionAction.allow_goal_modification parameter (new way) are specified, the property takes precedence.
If both are not defined, specify false as default.

property	parameter	result
undefined	undefined	false
undefined	true	true
undefined	false	false
true	undefined/true/false	true
false	undefined/true/false	false

Note

If multiple parameters with different scopes are declared, the value of the one with the narrower scope takes precedence.

test scenario behavior

1. scenario set first goal with allow_goal_modification
2. scenario locate car_1 to first goal
3. Autoware modifies the first goal
4. Autoware reaches the modified goal
5. scenario set the second goal without allow_goal_modification
6. scenario locate car_1 to second goal
7. (Autoware goes without modifying the second goal)
8. scenario locate car_1 out of second goal
9. Autoware reaches second goal

References

Destructive Changes

None

Known Limitations

To specify allow_goal_modification of AcquirePositionAction in Init Actions, you should declare global AcquirePositionAction.allow_goal_modification parameter.

Related Issues