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usdot-fhwa-stol / carma-platform

CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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Mobility messages need way of conveying non-path point information #123

Open msmcconnell opened 6 years ago

msmcconnell commented 6 years ago

In the TO26 cooperative merge application an RSU broadcasts a mobility request with the meter point. This request message is incorrectly processed as a vehicle path by mobility router causing numerous replans on all vehicles. PR #930 adds a band-aid fix for this by preventing replans for single point paths, but this demonstrates a need for mobility requests to convey messages without an included path. Perhaps a flag could be added to disable the concept of a path in a request message. Additionally, other messages types should probably support some kind of single point location information.

darrelld05 commented 5 years ago

This issue was transferred from the original CARMAPlatform: Old issue # 931

msmcconnell commented 4 years ago

This issue is still applicable to CARMA3. It boils down to the following. Mobility Messages need to include an option to convey a request that is not a motion profile.