feat(start_planner): enable safety check for start planner #702
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kyoichi-sugahara
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kosuke55
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Nov 24, 2023
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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This was referenced Nov 25, 2023
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…owarefoundation#702) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
enable safety check feature for start_planner with this PR
Tests performed
check engage is impossible when path is not safe in following scenes
check stop point can be inserted in following scenes
Screencast from 2023年11月24日 16時30分50秒.webm
Screencast from 2023年11月24日 16時19分04秒.webm
Screencast from 2023年11月24日 16時17分20秒.webm
Effects on system behavior
Not applicable.
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