feat: add support for area for route planning#12381
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emmeyteja wants to merge 12 commits intoautowarefoundation:mainfrom
Open
feat: add support for area for route planning#12381emmeyteja wants to merge 12 commits intoautowarefoundation:mainfrom
emmeyteja wants to merge 12 commits intoautowarefoundation:mainfrom
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Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp>
emmeyteja
requested review from
TaikiYamada4,
TakaHoribe,
isamu-takagi,
kosuke55,
mitsudome-r,
soblin and
takayuki5168
as code owners
github-actions
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added
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component:planning
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Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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Signed-off-by: emmeyteja <emmeyteja@gmail.com>
…areas Signed-off-by: emmeyteja <emmeyteja@gmail.com>
… RViz Signed-off-by: emmeyteja <emmeyteja@gmail.com>
…when areas present in the route Signed-off-by: emmeyteja <emmeyteja@gmail.com>
…lanelet-area-lanelet
emmeyteja
added
the
run:build-and-test-differential
…height Removes cppcheck redundantInitialization warning; goal_height is always set in the area vs lane branches before use. Made-with: Cursor
Author
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@mitsudome-r @soblin Could you please review this PR? |
…lanelet-area-lanelet
…lanelet-area-lanelet
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Description
Universe updates for mission routes that can include Lanelet2 Area segments (
LaneletPrimitive.primitive_type == "area").default_planner): Plans with area-inclusiveRouteHandlerAPIs, buildsLaneletRoute.segmentswith mixed lane and area primitives, and refines goal Z when the last segment is an area. Lane-onlysetRouteLaneletsstill receives only lanelets; full L–A–L topology is carried in segments.LaneletRoute(skipping areas for arc length) instead of lane-onlyRoutingGraph::getRoute, and recomputes when the map arrives after the route.Related links
Parent Issue:
Related PRs
Design Documents
Tier IV Internal Design Document: Area Visualization
Tier IV Internal Design Document: Route Serach through Areas
How was this PR tested?
Notes for reviewers
Please check segment handling and RouteHandler usage in mission planner; remaining-distance path is gated on presence of any area segment in the cached route.
Interface changes
No new topics or message types.
LaneletRoutepayload may includeareasegments when the map and routing rules allow.Effects on system behavior
Missions that only connect via Areas can get a published route where pure lane routing could not. Subscribers that ignore
primitive_typeor only usegetRoutemay still misbehave. Trajectory / behavior through the connector is not defined by this PR alone.