feat(planning_factor): support new cruise planner's factor #10229
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Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
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Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #10229 +/- ##
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+ Coverage 26.40% 26.45% +0.05%
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Files 1389 1392 +3
Lines 107705 107744 +39
Branches 41496 41496
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+ Hits 28442 28507 +65
+ Misses 76428 76395 -33
- Partials 2835 2842 +7
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Description
This PR adds a conversion for a new planning_factor.
background
Recently,
obstacle_cruise_plannerandobstacle_stop_plannercan be launched as modules ofmotion_velocity_plannerinstead of as standalone nodes. (The traditional nodes can still be launched.)⛓️ reference: Split obstacle_cruise_planner to obstacle stop, slow_down, and cruise, and port them to motion_velocity_planer
With this change, a new planning_factor for obstacle_cruise/stop/slowdown_planner has been added.
Related links
Parent Issue:
How was this PR tested?
I launched planning_simulator.launch.xml and checked the subscriber of
/adapi/node/planning.The new planning_factors can be found by
ros2 node info /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner.Notes for reviewers
None.
Interface changes
None.
Effects on system behavior