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feat(behavior_path_planner): add yaw_dev threshold angle #2126

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feat(behavior_path_planner): add yaw_dev threshold angle #2126

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845b8d3
add yaw_dev threshold angle
Oct 20, 2022
09585ee
ci(pre-commit): autofix
pre-commit-ci[bot] Oct 20, 2022
a56764f
used early return
Nov 3, 2022
7922bc3
change finding nearest_index function
Nov 3, 2022
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23 changes: 22 additions & 1 deletion planning/behavior_path_planner/src/behavior_path_planner_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -600,7 +600,28 @@ void BehaviorPathPlannerNode::run()
const auto output = bt_manager_->run(planner_data);

// path handling
const auto path = getPath(output, planner_data);
auto path = getPath(output, planner_data);

// check if path orientation is valid
if (!path->points.empty()) {
const auto closest_path_point_idx = findEgoIndex(path->points);
const auto yaw_dev = tier4_autoware_utils::calcYawDeviation(
path->points.at(closest_path_point_idx).point.pose, planner_data->self_pose->pose);

if (std::abs(yaw_dev) > M_PI / 2.0) {
RCLCPP_WARN(
get_logger(), "Path orientation is invalid. Path yaw deviation: %f (deg)",
yaw_dev * 180 / M_PI);
if (planner_data_->prev_output_path->points.empty()) {
return;
} else {
path = planner_data_->prev_output_path;
}
} else {
// update planner data
planner_data_->prev_output_path = path;
}
}

// update planner data
planner_data_->prev_output_path = path;
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