fix(obstacle_avoidance_planner): change behavior when optimization fails #1576
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Yuki Takagi <[email protected]>
Signed-off-by: Yuki Takagi <[email protected]>
yuki-takagi-66
requested review from
kosuke55,
TakaHoribe and
takayuki5168
as code owners
Signed-off-by: Yuki Takagi <[email protected]>
|
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
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.