Implementing the control of the external request line change module using the buttons

[Andrey949101]

Hello everyone!
I am trying to implement lane change by pressing the "right" and "left" buttons. It seems to me that the most suitable module for this is the external request line change module. I wrote a plugin for Rviz that sends 1 and 2 depending on the required lane change direction. However, I cannot write the logic inside the module that it would use to handle these external issues.
Could you help me do this or tell me where to find examples and development guides.
Thank you in advance for your help!

[shulanbushangshu]

I think this function can be done in the behavior_path_planner. But I don't know what specific considerations you want to manually lane change based on. Because the current autoware global planning is once. Have you considered the requirements after the manual lane change? Is to continue to use the original global path, you need to consider the case that will automatically lane change again. In general, it depends on the purpose of your manual lane change and the expected logical processing after the manual lane change.