feat(goal_planner): reject candidate path whose start pose direction is not aligned with ego path #6935
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…is not aligned with ego path Signed-off-by: Mamoru Sobue <[email protected]>
…rection is not aligned with ego path" This reverts commit 0307cae. Signed-off-by: Mamoru Sobue <[email protected]>
Signed-off-by: Mamoru Sobue <[email protected]>
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…is not aligned with ego path (autowarefoundation#6935) Signed-off-by: Mamoru Sobue <[email protected]>
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…is not aligned with ego path (autowarefoundation#6935) Signed-off-by: Mamoru Sobue <[email protected]>
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Description
In the
hasEnoughDistance, use the "long_tail_reference_path" for checking if ego passed the start pose of pull_over_path candidateRelated links
https://tier4.atlassian.net/browse/RT1-5675
https://evaluation.tier4.jp/evaluation/reports/14c05a40-8428-5835-8a08-bf923393f498?project_id=prd_jt
Tests performed
RT1-5675-2024-05-08_12.58.15.mp4
https://evaluation.tier4.jp/evaluation/reports/e842342f-d2dd-59e3-897a-1f66799b0248?project_id=prd_jt
Notes for reviewers
Interface changes
none
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
none
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