fix(obstacle_avoidance_planner): change behavior when optimization fails #1576
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yuki-takagi-66
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kosuke55,
TakaHoribe and
takayuki5168
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Description
https://tier4.atlassian.net/browse/RT0-33698
https://star4.slack.com/archives/CRUE57C30/p1727746662736939
への暫定対応PRです。
path_optimizer (X2 v2.3.3においてはobstacle_avoidance_planner) で計算に失敗した際の振る舞いを変更し、
前回の最適化経路を出力するようになっていたところを、前段のモジュールの経路を出力するように変更しました。
path_optimizerにより経路を大きく変更しながら走行している際には、それなりに急にハンドルを切る可能性があります。（vehicle_cmd_gateあるいはMPCのパラメータ次第です）
また、今後類似問題が発生した際に発生事象を絞り込めるように、例外発生時のエラーメッセージを増やす対応を行いました。
Related links
Parent Issue:
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.