But there you have global_path_linestring available and you could take the last coordinates from there.
So I would suggest removing all goal_point related things
And using the shapely project on local_path might not give you reasonable results. If the global path turns back and makes U-turn then the closest point to local path from the goal point, can be very close to ego vehicle, although the local path stretches 100m straight.
I think you don't need
self.goal_point
It just adds complexity.global_path_linestring
available and you could take the last coordinates from there.goal_point
related thingsAnd using the shapely![image](https://github.com/AnishShr/autoware_mini_practice/assets/33843059/1a0dd2e8-027c-45d8-b590-f561d5e5f2f5)
project
on local_path might not give you reasonable results. If the global path turns back and makes U-turn then the closest point to local path from the goal point, can be very close to ego vehicle, although the local path stretches 100m straight.