Hi

Someone would know how to switch for a different planner in Apollo 6.0?

From planning_config.proto file, I am aware they have 4 planners available:

1. RTK
2. Road Public
3. Navi
4. Lattice

However there is not a good documentation available on this regard. And few issues on Apollo github related to this. I would like to find and trigger a local planner (among the 4 described above) able to avoid a static obstacle. And not get stuck as you can check on video below:

https://www.youtube.com/watch?v=9keDL75MS8M

The complete description of my issue is described here:

https://github.com/ApolloAuto/apollo/issues/13763

https://github.com/lgsvl/simulator/issues/1424

Some Apollo users suggested long time ago (in older Apollo versions) that was necessary to change the code on planning_config.proto file and compile everything again:

https://github.com/ApolloAuto/apollo/issues/2429

However this generated a bunch of errors...