fix(route_handler): planning route with goal lanelet in candidate_lanelets #6802
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sebekx
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Apr 12, 2024
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This pull request has been automatically marked as stale because it has not had recent activity. |
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@mitsudome-r will take a look and see if this modification is still necessary. |
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Description
There is and issue with route_handler in situation when goal lanelet is in candidate lanelet list.
getLaneletSequenceUpTofunction starts from the goal lanelet and iteratively check candidate lanenelet from current lanelet. But when there is goal lanelet in candidate lanelet search is stopped to prevent looping.However in following situation:
We would to set goal on lanelet 4, but function 'getLaneletSequenceUpTo' going backward and for lanelet 3 it has 2 candidate lanelet 4 and 2. 4 is goal lanelet so processing is stopped.
Condition that protects against looping could be rewritten to remove goal lanelet from candidate_lanelets instead braking processing to support such cases.
Tests performed
Verified that after applying changes i was able to set goal in such case:
Effects on system behavior
Fix issue with generating lanelet segments by mission_planner in specific case.
Not applicable.
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