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feat(mission_planner): add param of check_footprint_inside_lanes #5097

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merged 3 commits into from
Sep 25, 2023
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feat(mission_planner): add param of check_footprint_inside_lanes #5097

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bd6246e
feat(mission_planner): add param of check_footprint_inside_lanes
takayuki5168 Sep 24, 2023
d574f04
update config
takayuki5168 Sep 24, 2023
925bf4c
update
takayuki5168 Sep 24, 2023
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1 change: 1 addition & 0 deletions planning/mission_planner/config/mission_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,3 +9,4 @@
reroute_time_threshold: 10.0
minimum_reroute_length: 30.0
consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not.
check_footprint_inside_lanes: true
3 changes: 3 additions & 0 deletions planning/mission_planner/src/lanelet2_plugins/default_planner.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,8 @@ void DefaultPlanner::initialize_common(rclcpp::Node * node)
param_.goal_angle_threshold_deg = node_->declare_parameter<double>("goal_angle_threshold_deg");
param_.enable_correct_goal_pose = node_->declare_parameter<bool>("enable_correct_goal_pose");
param_.consider_no_drivable_lanes = node_->declare_parameter<bool>("consider_no_drivable_lanes");
param_.check_footprint_inside_lanes =
node_->declare_parameter<bool>("check_footprint_inside_lanes");
}

void DefaultPlanner::initialize(rclcpp::Node * node)
Expand Down Expand Up @@ -349,6 +351,7 @@ bool DefaultPlanner::is_goal_valid(

// check if goal footprint exceeds lane when the goal isn't in parking_lot
if (
param_.check_footprint_inside_lanes &&
!check_goal_footprint(
closest_lanelet, combined_prev_lanelet, polygon_footprint, next_lane_length) &&
!is_in_parking_lot(
Expand Down
1 change: 1 addition & 0 deletions planning/mission_planner/src/lanelet2_plugins/default_planner.hpp
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Expand Up @@ -38,6 +38,7 @@ struct DefaultPlannerParameters
double goal_angle_threshold_deg;
bool enable_correct_goal_pose;
bool consider_no_drivable_lanes;
bool check_footprint_inside_lanes;
};

class DefaultPlanner : public mission_planner::PlannerPlugin
Expand Down