Practice 6 - simple_local_planner - handling the goal point and distance to it

[geopimik]

1. I think you don't need self.goal_point It just adds complexity.

   • The only place where you actually use it is here https://github.com/AnishShr/autoware_mini_practice/blob/21d92c582d289c5f9fc24b477ca34f7889b10b66/practice_6/nodes/planning/local/simple_local_planner.py#L204-L206
   • 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

2. 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.

[AnishShr]

1. Removed variables goal_point, 'goal_coords', etc and took them from the global_path_linestring
2. Rather than projecting the goal point from local path, got the projected distances from global path and the projected distance of ego vehicle from global path start to get the distance between the ego vehicle and the goal. https://github.com/AnishShr/autoware_mini_practice/blob/db7de2e51eb2ac93c232ab33cd755905c6f50521/practice_6/nodes/planning/local/simple_local_planner.py#L194

[AnishShr]

latest commit: https://github.com/AnishShr/autoware_mini_practice/commit/7d19ddadcd79e106cadf593cf4e87f63427ab2fd

[geopimik]

OK