fix(minimum_rule_based_planner): always shift trajectory start to ego - #3244
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mraditya01 wants to merge 4 commits into
Open
fix(minimum_rule_based_planner): always shift trajectory start to ego #3244mraditya01 wants to merge 4 commits into
mraditya01 wants to merge 4 commits into
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@mraditya01 Thank you for contributing to TIER IV E2E branch! Edit the checklist below and check the boxes as you complete the items. Things to check before mergingPlease check the following points before merging:
After mergingPlease check the following points after merging:
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Kotakku
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| TrajectoryShiftParams shift_params; | ||
| shift_params.minimum_shift_length = params_.path_planning.path_shift.minimum_shift_length; | ||
| shift_params.minimum_shift_yaw = params_.path_planning.path_shift.minimum_shift_yaw; |
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Could you also remove the parameter from the param, schema, and config directory as well?
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Description
Update
autoware_minimum_rule_based_plannerto always shift the generated trajectory so that it starts from the ego pose.Previously, trajectory shifting was skipped when both the lateral offset and yaw deviation were below their configured thresholds. This could leave the trajectory start slightly misaligned with the ego pose.
Key changes
Remove the trajectory-shift bypass
minimum_shift_lengthandminimum_shift_yaw.Update the unit test
Related links
None.
How was this PR tested?
Unit test.
Before
After
Notes for reviewers
None.
Interface changes
None.