refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package #630
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
) * fix(start_planner): fix path cut by U turn goal Signed-off-by: kosuke55 <[email protected]> * cut path Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
* fix(lane_change): safety check chattering Signed-off-by: Takamasa Horibe <[email protected]> * remove unused default value Signed-off-by: Takamasa Horibe <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
maxime-clem
requested review from
kosuke55,
TakaHoribe,
takayuki5168,
rej55,
mkuri,
purewater0901,
kyoichi-sugahara,
satoshi-ota,
shmpwk,
taikitanaka3,
tkimura4,
zulfaqar-azmi-t4,
soblin and
TomohitoAndo
as code owners
github-actions
bot
added
documentation
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
This PR adds a new
path_smoothingpackage containing the implementation of an elastic band node.The same implementation is removed from the
obstacle_avoidance_planner.Corresponding launch PR: autowarefoundation/autoware_launch#420
Related links
Tests performed
Tested in the evaluator: TIER IV INTERNAL LINK
Notes for reviewers
Interface changes
The
obstacle_avoidance_plannerno longer needs parameters for the elastic band algorithm.To replicate the previous behavior, the new
elastic_band_smoothernode, implemented in packagepath_smoothing, is expected to run ahead of theobstacle_avoidance_planner.Effects on system behavior
There should be no change of behavior.
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.