Path planning using the Lanelet2 map (Global Planner)
Description
Parkopedia will provide a Global Planner which will query the Lanelet2 Map Loader to get a relevant sub-section with relevant objects from the Lanelet2 Map Loader (#470 (closed)). The Global Planner will then create a continuous, drivable path from the start point to the end point and publish this path. If the start point and end point are not connected via a continuous Lanelet path, the Global Planner should find the nearest point on a drivable surface to the unconnected point and use that for routing instead.
Parkopedia reference: https://avp-project.uk/path-planning-using-the-osm-xml-map
Definition of Done
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Create stub architecture for Global Planner (including design document) -
Implement actual planning code and tests -
Create documentation on using the Global Planner
Edited by Joshua Whitley