16.5.3
Abstract
This pull request is a refactoring of the BehaviorTreePlugin proposed by ROBOTECH.
Background
N/A
Details
- Replaced hardcoded values with named constants.
- Append curve_waypoints instead of straight_waypoints.
References
- tier4/sim_evaluation_tools#528
- https://tier4.atlassian.net/jira/software/c/projects/RT4/boards/446?assignee=712020%3A86ceb94c-d91a-412a-8dcf-056519a0fbf8&selectedIssue=RT4-16990
- https://tier4.atlassian.net/wiki/spaces/~71202086ceb94cd91a412a8dcf056519a0fbf8/pages/3739550644/lane_change_action+calculateWaypoints
Destructive Changes
N/A
Known Limitations
N/A