feat(start_planner): add offset to not finish before engage #4121
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #4121 +/- ##
==========================================
- Coverage 14.35% 14.31% -0.04%
==========================================
Files 1569 1569
Lines 108001 108285 +284
Branches 31248 31463 +215
==========================================
+ Hits 15500 15503 +3
- Misses 75647 75919 +272
- Partials 16854 16863 +9
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planning/behavior_path_planner/src/scene_module/start_planner/start_planner_module.cpp
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…foundation#4121) (#665) feat(start_planner): add offset to not finish before engage (autowarefoundation#4121) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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…foundation#4121) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
If the lateral shift is too small and end pose is same to the current pose, start planner is finished before engage.
To prevent the module from finishing add offset.
Related links
tier4_internal_slack
Tests performed
psim
Notes for reviewers
none
Interface changes
none
Effects on system behavior
none
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