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Port Hybrid-A* Planner from Tier IV Reference Architecture

Description

Port Hybrid-A* Planner from Tier IV Reference Architecture.

Purpose

Do to lack of the developer who can understand the current parking planner that exists in Autoware.Auto, we cannot do improvement/tuning for different use cases. We should replace it with the new node that achieves the same goal but with more robust planner.

Desired Behavior

The node should provide a trajectory when the following information is provided:

  • start pose
  • goal pose
  • obstacle position/size
  • vehicle model.

Definition of Done

  • Update Hybrid-A* in Tier IV Reference Architecture repository
  • Port the node to Autoware.Auto