fix(route_handler): make new route continuous with previous route #8238
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Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
rej55
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #8238 +/- ##
==========================================
+ Coverage 23.75% 29.18% +5.43%
==========================================
Files 1380 1606 +226
Lines 101380 117755 +16375
Branches 38534 50670 +12136
==========================================
+ Hits 24079 34363 +10284
+ Misses 74859 74203 -656
- Partials 2442 9189 +6747
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…towarefoundation#8238) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
xtk8532704
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…towarefoundation#8238) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: xtk8532704 <1041084556@qq.com>
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Description
Before this change, it plans a new route independently of the previous route.
So, if
mission_plannerreceives a modified goal, it may switch a route then it changes a path suddenly.To fix this problem, I added a change to make a new route continuous with previous route.
Related links
Parent Issue:
Private Links:
How was this PR tested?
Before:
route-2024-07-26_20.07.18.mp4
After:
route-2024-07-26_20.00.18.mp4
TIER IV internal link
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.