16.4.3
Abstract
This pull request is a refactoring of the BehaviorTreePlugin proposed by ROBOTECH.
Background
N/A
Details
- Removed unreachable section.
- Reviewed and simplified the logic in StopAtStopLineAction.
- Removed unused in_stop_sequence_.
- Avoided redundant checks for identical conditions in StopAtCrossingAc…
- Added lane matching failure condition in StopAtStopLineAction.
- Added a check for the value of lane_change_velocity_.
- Replaced hardcoded values with named constants.
References
- tier4/sim_evaluation_tools#522
- https://tier4.atlassian.net/jira/software/c/projects/RT4/boards/446?assignee=712020%3A86ceb94c-d91a-412a-8dcf-056519a0fbf8&selectedIssue=RT4-16990
Destructive Changes
N/A
Known Limitations
N/A