feat: lane_departure_checker with curbstones #687
Merged
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Description
The current lane_departure_checker unnecessarily publishes the diag even when it is not dangerous.
A better logic for the real use-case was implemented here checking if the ego's predicted trajectory will collide with the curbstones.
autowarefoundation/autoware.universe#4607
This PR enables this logic and disables the previous logic.
Tests performed
psim
Effects on system behavior
What lane_departure_checker detects will be whether the ego's predicted trajectory will collide with the curbstones.
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