The Autoware Foundation
Rationality of freespace planning region #2615
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It seems freespace planner targets at the whole unoccupied area in costmap. In parking scenario as below, the trajectory is extended to lanetes out of the parking lot. I think it is not reasonable in ODD. Will it be modified in the future? |
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@NorahXiong Thank you for reporting this. Since it seems to be a bug, could you open a bug issue here? And I believe the cause is this function. We have to limit the target to the parking area. |
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@NorahXiong Thank you for reporting this. Since it seems to be a bug, could you open a bug issue here?
https://github.com/autowarefoundation/autoware.universe/issues
And I believe the cause is this function. We have to limit the target to the parking area.
https://github.com/autowarefoundation/autoware.universe/blob/1696c2b081f81b43ff2900404e8478dec2cbb1c2/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp#L231