fix(start_planner): use waypoints as centerline if available #10238
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Signed-off-by: Mehmet Dogru <42mehmetdogru42@gmail.com>
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Description
closes #10237
❗ Should be merged after autowarefoundation/autoware_lanelet2_extension#49 is merged
❓ What this PR changes:
start_plannerdoes not consider "waypoints" attribute (custom centerline) assigned to the lanelet but calculated centerline when it judges whether ego is in the middle of the road or notInstead I propose it is more convenient to query if ego is on the centerline (custom or calculated) whether use_waypoints :
trueor use_waypoints :falsesince "waypoints" is supposed to be used for ego path judgement.Before:
After:
start_planner_issue_after.mp4
Related links
Parent Issue:
- Link
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.