fix(goal_planner): set correct reference path #4809
Merged
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: satoshi-ota <satoshi.ota928@gmail.com>
satoshi-ota
commented
Aug 30, 2023
| @@ -35,7 +35,7 @@ BehaviorModuleOutput DefaultFixedGoalPlanner::plan( | |||
| const PathWithLaneId smoothed_path = | |||
| modifyPathForSmoothGoalConnection(*(output.path), planner_data); | |||
| output.path = std::make_shared<PathWithLaneId>(smoothed_path); | |||
| output.reference_path = std::make_shared<PathWithLaneId>(smoothed_path); | |||
| output.reference_path = getPreviousModuleOutput().reference_path; | |||
There was a problem hiding this comment.
@kosuke55 Here it is.
Codecov ReportPatch and project coverage have no change.
Additional details and impacted files@@ Coverage Diff @@
## main #4809 +/- ##
=======================================
Coverage 15.09% 15.10%
=======================================
Files 1571 1571
Lines 108231 108176 -55
Branches 33231 33201 -30
=======================================
Hits 16342 16342
+ Misses 74070 74015 -55
Partials 17819 17819
*This pull request uses carry forward flags. Click here to find out more.
☔ View full report in Codecov by Sentry. |
takayuki5168
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Nov 27, 2023
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
TetsuKawa
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Dec 8, 2023
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
takayuki5168
pushed a commit
to tier4/autoware.universe
that referenced
this pull request
Dec 25, 2023
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
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
🤖 Generated by Copilot at a9de1aa
Fix a bug in the goal planner module that caused lane deviation, and modify the output of the default fixed goal planner to use a consistent reference path. These changes improve the path planning stability and robustness.
Tests performed
Effects on system behavior
Not applicable.
Pre-review checklist for the PR author
The PR author must check the checkboxes below when creating the PR.
In-review checklist for the PR reviewers
The PR reviewers must check the checkboxes below before approval.
Post-review checklist for the PR author
The PR author must check the checkboxes below before merging.
After all checkboxes are checked, anyone who has write access can merge the PR.