feat(behavior_path_planner): update pull over/out for new blinker logic #138
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kosuke55
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zulfaqar-azmi-t4,
rej55,
TakaHoribe,
purewater0901,
takayuki5168,
taikitanaka3,
tkimura4 and
shmpwk
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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| // turn hazard light when backward driving | ||
| const Pose & current_pose = planner_data_->self_pose->pose; | ||
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|
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| // turn on hazard light when backward driving |
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- add else
- desired start point = start point of pull out
- required start point = start point of pull out
| const double distance_to_start = | ||
| calcSignedArcLength(full_path.points, current_pose.position, start_pose.position); | ||
| const bool is_before_start_pose = distance_to_start >= 0.0; | ||
| turn_signal.desired_start_point = |
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desired start point = 3 seconds before the start point of pullover
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Codecov Report
Additional details and impacted files@@ Coverage Diff @@
## feat/add-new-intersection-algorithm #138 +/- ##
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Coverage ? 2.49%
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Files ? 58
Lines ? 6682
Branches ? 3426
=====================================================================
Hits ? 167
Misses ? 6189
Partials ? 326
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Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
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Description
Update pull over for new winker logic of @purewater0901
Discussion pull over/out winker behavior (TIER IV internal links)
Related links
Merge the following PRs
Tests performed
shift pull over
shift_pull_over_winkeker_2022-09-24-17-34-20.mp4
arc forward
arc_foward_winker_2022-09-24-17-42-39.mp4
arc backward
arc_backward_winker_2022-09-24-17-46-06.mp4
Since pull_out wants to start driving immediately after approval, the 3 seconds need to be guaranteed by an operator.
back to shift_pull_out
back_pull_out_winker_2022-09-24-18-41-20.mp4
geometric pull out
geometric_pull_out_2022-09-24-18-48-49.mp4
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