Waypoint-based Driving

[MrOCW]

Hi, I have an application requiring waypoints as goals. Would be nice to have such a feature.

[maxime-clem]

Possible very simple implementation of a waypoint_manager node.

• Keep a waypoints_queue and a current_goal.
• Receive goal poses and add them to the queue.
• If the current_goal is not set, set it to waypoints_queue.pop() and sends it to the current mission planner.
• If the current_goal is reached, unset it.

The issue with this approach is that it requires stopping at each waypoint. Currently, Autoware will disengage if the route is modified at runtime.

[takayuki5168]

@MrOCW Thank you for your feature requests.
Current autoware strongly depends on the lanelet map. (e.g. behavior_path_planner's output has map information as lane_id, obstacle_avoidance_planner tries to make trajectory footprints inside the lane)

Is it okay for you to use a lanelet map as usual?