feat(start_planner,lane_departure_checker): add margin param for lane departure check #7193
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Signed-off-by: Daniel Sanchez <[email protected]>
Signed-off-by: Daniel Sanchez <[email protected]>
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Signed-off-by: Daniel Sanchez <[email protected]>
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Signed-off-by: Daniel Sanchez <[email protected]>
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Signed-off-by: Daniel Sanchez <[email protected]>
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… departure check (autowarefoundation#7193) * add param for lane departure margin Signed-off-by: Daniel Sanchez <[email protected]> * json thing Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * make separate param for lane departure margin expansion Signed-off-by: Daniel Sanchez <[email protected]> * update docs Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
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… departure check (autowarefoundation#7193) * add param for lane departure margin Signed-off-by: Daniel Sanchez <[email protected]> * json thing Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * make separate param for lane departure margin expansion Signed-off-by: Daniel Sanchez <[email protected]> * update docs Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
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… departure check (autowarefoundation#7193) * add param for lane departure margin Signed-off-by: Daniel Sanchez <[email protected]> * json thing Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * make separate param for lane departure margin expansion Signed-off-by: Daniel Sanchez <[email protected]> * update docs Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
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… departure check (#7193) * add param for lane departure margin Signed-off-by: Daniel Sanchez <[email protected]> * json thing Signed-off-by: Daniel Sanchez <[email protected]> * docs Signed-off-by: Daniel Sanchez <[email protected]> * make separate param for lane departure margin expansion Signed-off-by: Daniel Sanchez <[email protected]> * update docs Signed-off-by: Daniel Sanchez <[email protected]> --------- Signed-off-by: Daniel Sanchez <[email protected]>
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Description
This adds the option for an extra margin on the ego footprint when checking for out of lane.
Requires launch changes: autowarefoundation/autoware_launch#1011
Addresses this TICKET
Related links
Tests performed
PSim
EVALUATOR TESTS TIER IV INTERNAL LINK
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
footprint_extra_margin -> an extra margin used to increase the ego footprint size
Effects on system behavior
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