fix(route_handler): query shoulder lane in getLaneletSequence() if only_route_lanes is false and the arg is shoulder type #6567
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…y_route_lanes is false and the arg is shoulder Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #6567 +/- ##
==========================================
- Coverage 14.79% 14.79% -0.01%
==========================================
Files 1917 1917
Lines 132145 132157 +12
Branches 39262 39272 +10
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Hits 19553 19553
- Misses 90774 90783 +9
- Partials 21818 21821 +3
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
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…ly_route_lanes is false and the arg is shoulder type (autowarefoundation#6567) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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fix(route_handler): query shoulder lane in getLaneletSequence() if only_route_lanes is false and the arg is shoulder type (autowarefoundation#6567)
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…ly_route_lanes is false and the arg is shoulder type (#6567) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
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…ly_route_lanes is false and the arg is shoulder type (autowarefoundation#6567) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp> Signed-off-by: kaigohirao <kaigo.hirao@proxima-ai-tech.com>
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…ly_route_lanes is false and the arg is shoulder type (autowarefoundation#6567) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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Description
if the rough goal is specified on driving lane, then the leftmost shoulder lane is chosen in getLaneletSequence() function as the
outermost_lane, and the shoulder lanelets before/after that shoulder lane are collected after this PR. But before this PR, sinceonly_route_lanesis false in this case and the shoulder lanes are not included in the default RoutingGraph, the call to getLaneletSequneceAfter/getLaneletSequneceUpTo does not yield any shoulder lanes, which is the reason why the result contains only the single shoulder lane. And if the shoulder is associated with no_parking_area, then goal_planner cannot find any valid road shoulder to park.Related links
https://tier4.atlassian.net/browse/RT1-5528
Tests performed
In the following video the goal is on the driving lane whose left side lane is a shoulder lane with no_parking_area. The goal planner successfully finds the modified goal.
RT1-5582-2024-03-07_21.20.35.mp4
Before this PR,
getPullOverLanesreturns only single shoulder lane, and since it is associated with no_parking_area, the goal planner could not find the modified goal.RT1-5582-2024-03-07_21.31.52.mp4
Notes for reviewers
Interface changes
none
Effects on system behavior
none
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