From 918c2968047ce75d7d0101ed23434d2cc13fa37c Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" Date: Mon, 10 Apr 2023 16:56:37 +0900 Subject: [PATCH 1/2] feat: add description of goal modification Signed-off-by: Takagi, Isamu --- .../autoware-interfaces/ad-api/list/api/routing/index.md | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md index 903e711efd1..bdf399e2e5b 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md @@ -22,3 +22,11 @@ There are two ways to set the route. The one is a generic method that uses pose, | SET | The route is set. | | ARRIVED | The vehicle has arrived at the destination. | | CHANGING | Trying to change the route. Not implemented yet. | + +## Goal modification + +Autoware may modify the goal pose to pull over, avoid obstacles, etc. When setting a route from the API, applications can choose the following options of goal modification. + +| Option | Description | +| ----------------------- | --------------------------------- | +| allow_goal_modification | If true, allow goal modification. | From 62d7a89f43ed3f3ac0327b3aa850ac69cbbad7e1 Mon Sep 17 00:00:00 2001 From: "Takagi, Isamu" <43976882+isamu-takagi@users.noreply.github.com> Date: Wed, 12 Apr 2023 14:18:18 +0900 Subject: [PATCH 2/2] Update docs/design/autoware-interfaces/ad-api/list/api/routing/index.md Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> --- .../design/autoware-interfaces/ad-api/list/api/routing/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md b/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md index bdf399e2e5b..9e5a6953ba0 100644 --- a/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md +++ b/docs/design/autoware-interfaces/ad-api/list/api/routing/index.md @@ -25,7 +25,7 @@ There are two ways to set the route. The one is a generic method that uses pose, ## Goal modification -Autoware may modify the goal pose to pull over, avoid obstacles, etc. When setting a route from the API, applications can choose the following options of goal modification. +Autoware tries to look for an alternate goal when goal is unreachable (e.g., when there is an obstacle on the given goal). When setting a route from the API, applications can choose whether they allow Autoware to adjust goal pose in such situation. When set false, Autoware may get stuck until the given goal becomes reachable. | Option | Description | | ----------------------- | --------------------------------- |