From 918c2968047ce75d7d0101ed23434d2cc13fa37c Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 10 Apr 2023 16:56:37 +0900 Subject: [PATCH] feat: add description of goal modification Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/ad-api/list/api/routing/index.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md index 903e711efd1..bdf399e2e5b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md @@ -22,3 +22,11 @@ There are two ways to set the route. The one is a generic method that uses pose, | SET | The route is set. | | ARRIVED | The vehicle has arrived at the destination. | | CHANGING | Trying to change the route. Not implemented yet. | + +## Goal modification + +Autoware may modify the goal pose to pull over, avoid obstacles, etc. When setting a route from the API, applications can choose the following options of goal modification. + +| Option | Description | +| ----------------------- | --------------------------------- | +| allow_goal_modification | If true, allow goal modification. |