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Description
At current autoware, the parking scenario cannot initiate sometimes due to route cannot be planned between ego lanelet and closest lanelet to goal pose. However since ego vehicle and goal pose in same parking lot area, we don't need to reject goal due to path planning.
This PR checks whether the start and goal poses are in the same parking lot and sends the start lanelet as the path to initiate other nodes, as a full path is not necessary for freespace planning.
Related links
Parent Issue:
How was this PR tested?
Map File
lanelet2_map.txt
Psim
Before this PR:
https://github.com/user-attachments/assets/e16144b2-a98b-4269-bf01-83df67382a8e
After this PR:
https://github.com/user-attachments/assets/0b277114-037c-4c8f-be82-bf16c79494c3
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
autoware_remaining_distance_time_calculator package fails to calculate the time since the package cannot find a route between start and goal lanelet: https://github.com/autowarefoundation/autoware.universe/blob/d57f82d9c57a5384993b38ad3a477df4221ff623/planning/autoware_remaining_distance_time_calculator/src/remaining_distance_time_calculator_node.cpp#L131-L137
I am planning to create another PR to disable time calculation in the parking scenario, as the calculation no required during freespace driving.