Port behavior_path_planner from Tier IV Reference Architecture
Description
This issue is a part of #1166
The original package from TierIV proposed architecture is here
Detailed description of the package can be found in the link.
Purpose
Vehicle will be able to act in various scenarios:
- Lane Following
- Lane Change
- Obstacle Avoidance
- Pull Over
- Pull Out
- Side Shift
Desired Behavior
It selects a proper scenario with given external and internal status info and generates the right path.
Definition of Done
-
Create the skeleton package. -
Port basic functionality. -
Test it with behavior_velocity_planner