Static path planning with optimization

[takayuki5168]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Currently, the on-line path planning with optimization realizes

• smooth curvature
• footprints inside the drivable area

However, the on-line path planning has following disadvantages.

• We don't know the path shape beforehand. We can know it only when the vehicle runs.
• Sometimes the issue happens with the optimization (e.g. optimization fails), and we notice it when the vehicle runs.

In order to know that there is no issue on the map with the optimized path, static path planning with optimization is required.

Purpose

In order to know that there is no issue on the map with the optimized path

Possible approaches

Create a script

• Input: map, start/goal lanelet ids
• Output: optimized path (and debug message if the optimization succeeded or not)

This script contains

• map_loader
  • to load a lanelet map
• mission_planner
  • to navigate a route from start lanelet to goal lanelet
• obstacle_avoidance_planner
  • to optimize the path
    as a library.

Therefore, map_loader, mission_planner, obstacle_avoidance_planner also need to be modified to be called from the script.

Definition of done

get the optimized path from the lanelet map and start/goal lanelet ids with one script.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[takayuki5168]

The package for static path planning has been already merged.
#2013