This PR updates the plan_maneuvers service call request to include the initial vehicle state at the start of planning. This state should be used by Strategic Plugins when the prior_plan is empty. The reasoning for this change is that currently all the Strategic Plugins contain duplicated code to get the current position/lane/velocity information in order to begin maneuver planning. This means its possible for two strategic plugins to returns plans starting from slightly offset locations based on call order. This will make sequencing plans difficult. This change should help resolve that by providing a fixed source of truth as well as reducing code duplication.
PR Details
Description
This PR updates the plan_maneuvers service call request to include the initial vehicle state at the start of planning. This state should be used by Strategic Plugins when the prior_plan is empty. The reasoning for this change is that currently all the Strategic Plugins contain duplicated code to get the current position/lane/velocity information in order to begin maneuver planning. This means its possible for two strategic plugins to returns plans starting from slightly offset locations based on call order. This will make sequencing plans difficult. This change should help resolve that by providing a fixed source of truth as well as reducing code duplication.
Related Issue
https://github.com/usdot-fhwa-stol/carma-platform/issues/1377
Motivation and Context
See description
How Has This Been Tested?
Build
Types of changes
Checklist: