[Autoware] why do nothing when the state is on STATE::STOPPING

asked 2020-05-18 02:08:40 -0500

harderthan gravatar image

updated 2020-05-18 02:14:25 -0500

Hello, experts. I'm trying to test aster_avoid node with enable_avoidance=true on the Gazebo environment. I figured out how to make up and run nodes.

But, It is difficult to understand the logic of astar_avoid.cpp(366 line) and (368 line)

Why "do nothing, keep current waypoints", when state is on STOPPING and PLANNING? I think that it have to stop when it is on STOPPING and PLANNING. If it does nothing, It'll keep going to follow the waypoints it had.

Could you help me to understand?

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Maybe stopping is done by a nother node?

liyou zhou gravatar image liyou zhou  ( 2020-05-18 02:52:17 -0500 )edit