Fix the condition to end avoidance

Fixed bug

autoware#1 (closed)

Required information:

• Operating system and version:
  • Ubuntu 16.04
• Autoware installation type:
  • From source
• Autoware version or commit hash
  • Version 1.12-alpha.2
• ROS distribution and version:
  • Kinetic kame
• ROS installation type:
  • From binaries via apt

Description of the bug

astar_avoid switches publishing waypoint between reference path and HA* planned path by closest waypoint index, but that condition isn't correct so it's too early to finish avoidance behavior.

Steps to reproduce the bug

1. Follow 1~5 steps in !6 (merged) without astar_avoid
2. Execute rosrun tf static_transform_publisher 0 0 2 0 0 0 sim_base_link velodyne 10 (for wf_simulator)
3. Execute rosrun topic_tools relay /current_pose /localizer_pose (for wf_simulator)
4. Launch lidar_fake_perception with some options

• output points = /points_no_ground
• object_velocity = 0

1. Launch lidar_euclidean_cluster_detect
2. Launch costmap_generator with some options

• use_objects_convex_hull (other use_* are disabled)
• objects_input = detection/lidar_detector/objects

1. Launch astar_avoid with Enable Avoidance
2. Set obstacle with 2D Nav Goal on Rviz
3. Your car starts avoidance after stopping by your obstacle, but too quickly return to reference path.

Fix applied

I modified astar_avoid to correctly update end_of_avoid_index in path planning, so the condition is fixed.