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feat: add description of goal modification #348

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May 31, 2023
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feat: add description of goal modification #348

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feat: add description of goal modification
isamu-takagi Apr 10, 2023
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Update docs/design/autoware-interfaces/ad-api/list/api/routing/index.md
isamu-takagi Apr 12, 2023
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8 changes: 8 additions & 0 deletions docs/design/autoware-interfaces/ad-api/list/api/routing/index.md
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Expand Up @@ -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 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 |
| ----------------------- | --------------------------------- |
| allow_goal_modification | If true, allow goal modification. |