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feat(goal_planner): add bezier based pull over planner (#9642)
Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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12 files changed

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‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt

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@@ -14,6 +14,7 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
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src/pull_over_planner/freespace_pull_over.cpp
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src/pull_over_planner/geometric_pull_over.cpp
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src/pull_over_planner/shift_pull_over.cpp
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src/pull_over_planner/bezier_pull_over.cpp
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src/default_fixed_goal_planner.cpp
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src/goal_searcher.cpp
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src/util.cpp

‎planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/sample_planner_data_case1.yaml

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#
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# AUTO GENERATED by autoware_test_utils::topic_snapshot_saver
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# format1:
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#
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# format_version: <format-major-version, int>
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# map_path_uri: package://<package-name>/<resource-path>
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# fields(this is array)
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# - name: <field-name-for-your-yaml-of-this-topic, str>
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# type: either {Odometry | AccelWithCovarianceStamped | PredictedObjects | OperationModeState | LaneletRoute | TrafficLightGroupArray | TBD}
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# topic: <topic-name, str>
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#
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format_version: 1
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map_path_uri: package://autoware_test_utils/test_map/road_shoulder/lanelet2_map.osm
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dynamic_object:
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header:
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stamp:
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sec: 909
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nanosec: 742399532
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frame_id: map
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objects: []
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traffic_signal:
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stamp:
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sec: 0
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nanosec: 0
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traffic_light_groups: []
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route:
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header:
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stamp:
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sec: 125
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nanosec: 213336488
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frame_id: map
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start_pose:
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position:
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x: 748.132
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y: 708.703
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z: 381.187
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orientation:
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x: 0.00000
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y: 0.00000
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z: 0.235076
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w: 0.971977
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goal_pose:
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position:
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x: 798.040
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y: 689.386
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z: 381.187
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orientation:
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x: 0.00000
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y: 0.00000
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z: -0.659713
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w: 0.751517
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segments:
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- preferred_primitive:
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id: 15214
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primitive_type: ""
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primitives:
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- id: 15214
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primitive_type: lane
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- id: 15213
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primitive_type: lane
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- preferred_primitive:
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id: 15226
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primitive_type: ""
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primitives:
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- id: 15226
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primitive_type: lane
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- id: 15225
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primitive_type: lane
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- preferred_primitive:
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id: 15228
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primitive_type: ""
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primitives:
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- id: 15228
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primitive_type: lane
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- id: 15229
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primitive_type: lane
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- preferred_primitive:
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id: 15231
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primitive_type: ""
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primitives:
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- id: 15231
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primitive_type: lane
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uuid:
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uuid:
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- 100
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- 171
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- 232
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- 218
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- 65
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- 244
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- 197
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- 172
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- 167
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- 40
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- 148
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- 169
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- 170
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- 48
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- 29
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allow_modification: false
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operation_mode:
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stamp:
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sec: 902
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nanosec: 525199106
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mode: 2
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is_autoware_control_enabled: true
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is_in_transition: false
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is_stop_mode_available: true
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is_autonomous_mode_available: true
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is_local_mode_available: true
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is_remote_mode_available: true
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self_acceleration:
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header:
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stamp:
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sec: 909
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nanosec: 769937073
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frame_id: /base_link
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accel:
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accel:
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linear:
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x: -0.581360
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y: -0.290347
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z: 0.00000
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angular:
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x: 0.00000
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y: 0.00000
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z: 0.00000
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covariance:
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- 0.00100000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00100000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00100000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00100000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00100000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00100000
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self_odometry:
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header:
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stamp:
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sec: 909
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nanosec: 769937073
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frame_id: map
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child_frame_id: base_link
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pose:
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pose:
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position:
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x: 760.155
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y: 713.417
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z: 381.187
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orientation:
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x: 0.00000
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y: 0.00000
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z: 0.116943
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w: 0.993139
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covariance:
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- 0.000100000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.00000
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- 0.000100000
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- 0.00000
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twist:
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twist:
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linear:
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x: 3.83825
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y: 0.00000
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z: 0.00000
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angular:
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x: 0.00000
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y: 0.00000
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z: -0.0756457
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covariance:
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