Fix/interpreter/assign route action #1453
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Signed-off-by: yamacir-kit <[email protected]>
Signed-off-by: yamacir-kit <[email protected]>
Checklist for reviewers ☑️All references to "You" in the following text refer to the code reviewer.
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yamacir-kit
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HansRobo
approved these changes
Nov 18, 2024
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Description
Abstract
Fixed an issue where AssignRouteAction could not be applied multiple times to a Vehicle entity controlled by Autoware.
Background
#1369 introduced a feature that allows AcquirePositionAction to be applied multiple times to Vehicle entities controlled by Autoware. At that time, an equivalent feature should have been introduced for AssignRouteAction as well as AcquirePositionAction, but this was overlooked. This pull request fixes that.
Details
Note that FollowTrajectoryAction belongs to RoutingAction, just like AcquirePositionAction and AssignRouteAction, but there is no need to introduce an equivalent feature. This is because FollowTrajectoryAction for Vehicle entities controlled by Autoware is a special operation that means overriding the control of the vehicle by a controller that is not Autoware (mainly a human).
References
None.
Destructive Changes
None.
Known Limitations
None.