feat(mission_planner): add the interface to reroute while driving #3184
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Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
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Codecov ReportPatch coverage has no change and project coverage change:
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## main #3184 +/- ##
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- Coverage 12.31% 12.31% -0.01%
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Files 1340 1340
Lines 93513 93526 +13
Branches 26777 26777
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- Misses 69832 69845 +13
Partials 12162 12162
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Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
|
@yabuta @tkhmy @kenji-miyake |
| struct ChangeRoute | ||
| { | ||
| using Service = autoware_planning_msgs::srv::SetRoute; | ||
| static constexpr char name[] = "/planning/mission_planning/change_route"; |
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@isamu-takagi cc @mitsudome-r @yukkysaito
Could you please clarify why we need the change APIs in addition to the existing set APIs? If it's already documented, just writing the link is fine!
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This PR was created for MRM pull over (#3221). Since the route change by MRM pull over is done while driving, it is necessary to keep the route for some distance. The change route interface diverts this so that it can be used in normal operations as well. Therefore, the interface is separated to call a different process than the set route.
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Thank you, I understand.
But I feel it's a little different from what I guess from the word reroute.
Also, I think it can be completed within the Planning component, so I'm not sure whether we need to add new component interfaces for this.
I'll wait for comments from other architects.
(I forgot to mention @xmfcx, sorry.)
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@kenji-miyake I made a block diagram. This is the interface between ADAPI and planning.
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@isamu-takagi Thank you, but when and why do users call this change API? 🤔
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@kenji-miyake For example, when users want to change the goal while driving, or when splitting a route to create a circular route.
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Hmm, I'm sorry I don't understand the use cases well... 🥺
I'll leave the review to @mitsudome-r and @yukkysaito.
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
| struct SetMrm | ||
| { | ||
| using Service = autoware_planning_msgs::srv::SetPoseWithUuidStamped; | ||
| static constexpr char name[] = "~/srv/set_mrm"; |
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MRM is abbreviation of "minimum risk maneuver" so I prefer the name to be "~/srv/set_mrm_goal" or "~/srv/set_emergency_goal"
Description
Add interfaces for rerouting while driving autowarefoundation/autoware#3406.
Related links
#3221
TIER IV INTERNAL LINK.
Tests performed
Tested that the vehicle can reach the road shoulder goal in planning simulator.
Notes for reviewers
Need following PRs to build.
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