Routing to avoid no_drivable_lane(s)

[ahmeddesokyebrahim]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Currently, autoware supports no_drivable_lane handling, which is in brief a lane that out of operation design domain (ODD). The way autware handles no_drivable_lane is that it stops before exiting the ODD area and if the vehicle starts in non-ODD, it prevents the vehicle to move.

The purpose of this task is to extend the routing ability in autoware to avoid going through any no_drivable_lane between start and goal poses.

Purpose

If possible, having the autonomous missions avoiding any no_drivable_lane.

Possible approaches

While getting the shortest path between start and goal poses, check it includes any no_drivale_lane.
If it includes any :

• search for alternative routes that can go from start to goal and does not include any no_drivale_lane.
• find the shortest path in all alternative routes
• maintain the original shortest path if there is no alternative route and then let the no_drivale_lane module handles it.

Definition of done

• Implement proposed feature
• Test using planning simulator
• Review