Global Planner Should Be Able to Route to/from Anywhere (in the map)
Description
Currently the lanelet2_global_planner
can only plan to/from parking spots designated in the Lanelet2 map.
Expected behavior
The lanelet2_global_planner
should be able to plan a route to/from any point that is within the Lanelet2 map and within the bounds of a map primitive.
Definition of Done
-
lanelet2_global_planner
can plan from any coordinates within the map bounds. -
lanelet2_global_planner
can plan to any coordinates within the map bounds. -
Integration tests created to verify functionality
Edited by Joshua Whitley