feat(obstacle_cruise_planner)!: ignore to graze against unknwon objects #7177
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Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
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planning/obstacle_cruise_planner/config/obstacle_cruise_planner.param.yaml
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takayuki5168
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May 30, 2024
…r.param.yaml Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ts (autowarefoundation#7177) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ts (autowarefoundation#7177) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ts (autowarefoundation#7177) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ts (autowarefoundation#7177) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ts (autowarefoundation#7177) (#1331) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
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…ts (#7177) Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
This PR provides a feature to ignore grazing against unknown objects, such as bushes.
Screencast from 2024年05月30日 19時07分47秒.webm
To create the demo movie, I set up that pedestrians are assumed as unknown.
The movie shows that no stop-planning takes place if the collision width is small enough against the pedestrian.
launch PR: autowarefoundation/autoware_launch#1009
Tests performed
psim and tier4 internal tests
Effects on system behavior
Interface changes
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