Prior to this update, a tactical plugin in carma-platform would loop through a received maneuver plan and plan a trajectory for all relevant maneuvers in that plan. After this change, a tactical plugin will receive the intended maneuver index in the maneuver plan for which the trajectory planning service request is for.
How Has This Been Tested?
Unit tested and integration tested on both the Ford Fusion and Black Pacifica.
Types of changes
[x] Defect fix (non-breaking change that fixes an issue)
[ ] New feature (non-breaking change that adds functionality)
[ ] Breaking change (fix or feature that cause existing functionality to change)
Checklist:
[ ] I have added any new packages to the sonar-scanner.properties file
[ ] My change requires a change to the documentation.
PR Details
Description
This PR adds a field to the PlanTrajectory.srv request in order to communicate to a tactical plugin which maneuver plan index the request is for.
Related PR in carma-platform: Refactor plan_delegator and tactical plugins for plan_trajectory_cb() maneuver sequencing
Related Issue
Issue 1106: Refactor plan_delegator and InLane-cruising to properly sequence maneuver/trajectory planning Isseu 1036: Inlane cruising plugin cannot create trajectory plan for distributed maneuvers
Motivation and Context
Prior to this update, a tactical plugin in carma-platform would loop through a received maneuver plan and plan a trajectory for all relevant maneuvers in that plan. After this change, a tactical plugin will receive the intended maneuver index in the maneuver plan for which the trajectory planning service request is for.
How Has This Been Tested?
Unit tested and integration tested on both the Ford Fusion and Black Pacifica.
Types of changes
Checklist: