feat(mission_planner): add normal reroute implementation #3461
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Signed-off-by: yutaka <purewater0901@gmail.com>
Signed-off-by: yutaka <purewater0901@gmail.com>
purewater0901
requested review from
isamu-takagi,
kosuke55,
mitsudome-r,
TakaHoribe,
takayuki5168 and
a team
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github-actions
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added
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component:planning
Signed-off-by: yutaka <purewater0901@gmail.com>
Codecov ReportPatch coverage has no change and project coverage change:
Additional details and impacted files@@ Coverage Diff @@
## main #3461 +/- ##
==========================================
- Coverage 15.10% 14.60% -0.51%
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Files 1332 1287 -45
Lines 94823 90476 -4347
Branches 27009 28211 +1202
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- Hits 14321 13210 -1111
+ Misses 64813 63100 -1713
+ Partials 15689 14166 -1523
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| // update (initialize) route | ||
| if (!initialize_route_) { | ||
| original_route_ = std::make_shared<LaneletRoute>(route); | ||
| initialize_route_ = true; | ||
| } |
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move this process to on_set_route?
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fixed in 4e921cc, seems ok
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@isamu-takagi
assume that change_route is called after set_route, if change_route is called first original_route is not set. is it ok?
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or change_route should change original_route?
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The change_route interface only works after setting the route. So please add a check if the route state is SET.
Signed-off-by: yutaka <purewater0901@gmail.com>
Description
Add normal reroute implementation to the mission planner
🤖 Generated by Copilot at e07f7a8
This pull request enhances the
mission_plannercomponent to support dynamic rerouting based on user or system inputs. It adds new functions and types to handle vector map and reroute messages, and a new parameter to configure the reroute time threshold. It also improves the readability and consistency of the existing code.Related links
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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