feat(behavior_path_planner): output multiple candidate paths #2486
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Codecov ReportBase: 10.54% // Head: 10.44% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2486 +/- ##
==========================================
- Coverage 10.54% 10.44% -0.11%
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Files 1266 1266
Lines 87648 88513 +865
Branches 20937 21567 +630
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+ Hits 9242 9243 +1
- Misses 68543 69341 +798
- Partials 9863 9929 +66
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TIER IV internal test has been finished. |
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.../behavior_path_planner/include/behavior_path_planner/scene_module/scene_module_interface.hpp
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Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
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Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
…havior tree manager Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
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| @@ -68,7 +68,7 @@ BT::NodeStatus SceneModuleBTNodeInterface::tick() | |||
| // std::exit(EXIT_FAILURE); // TODO(Horibe) do appropriate handing | |||
| } | |||
| scene_module_->unlockRTCCommand(); | |||
| return BT::NodeStatus::SUCCESS; | |||
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…efoundation#2486) * feat(behavior_path_planner): output multiple candidate paths Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(behavior_path_planner): get path candidate in behavior tree manager Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_path_planner): add create publisher method Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_path_planner): move publishers to node Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feature(behavior_path_planner): remove unnecessary publisher Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(behavior_path_planner): move reset path candidate function to behavior tree manager Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp>
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Signed-off-by: Fumiya Watanabe rej55.g@gmail.com
Description
In the future, multiple modules in behavior_path_planner will be run.
To handle this, in this change, I change behavior_path_planner to output multiple candidate paths.
In this change, the name space of candidate path topics is also changed.
Before:
/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/path_candidateAfter:
/planning/path_candidate/**Furthermore, it also outputs multiple RTC status.
So, it becomes able to receive RTC commands if the modules request.
Related links
Tests performed
Tested in the planning simulator.
See also autowarefoundation/autoware_launch#125
Lane change & Avoidance
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