Practice 6 - simple_local_planner - wrong closest object distance and term consistency

[geopimik]

Currently, your simple local planner would stop before the obstacle like this:

It is roughly 4m before it as needed, but the Closest obj dist is showing 7.69m. So it is wrong here: https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L183

It is related how you interpret the following terms. I'll bring them here with our definitions:

• object_distances - from base_link to closest point of object
• object_braking_distances - additional object specific braking distance (how close to an object we want to stop)

It is up to you how you define them, but they need consistency. For example:

• Currently for goal point you have a line in code, but additional parameter: self.braking_safety_distance_goal is not used. Since it is a parameter and someday we might change it to 10m, it would not change the behaviour. Need to fix it. https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L168
• For obstacle you do it like this: https://github.com/Karljohan99/autoware_mini_practice/blob/a09abb4acfa7dc931d7fc454a4906f6bcbae5884/practice_6/nodes/planning/local/simple_local_planner.py#L160-L161

Summary:

• Make the terms clear and use them consistently
• Calculate the closest_object_distance correctly

[Karljohan99]

Made the changes in 00e500c. I hope that the closest_object_distance is now calculated correctly. It seems to me that the value for self.current_pose_to_car_front is too large and therefore I couldn't get the Closest obj dist exactly right. The measuring tool also behaved weirdly. If I measured the distance from the base_link exactly to the front of the car, it said around 4 meters, but if I moved a little further with my mouse, it said less than 3.5 meters.

[geopimik]

OK