Head-In Parking Fails
Description
Attempting to park in a parking spot with the front of the vehicle to the rear of the parking spot fails due to a hack that was added to behavior_planner
to allow more consistent behavior during the AVP demo.
How to Reproduce
- Start the LGSVL simulator with the ROS2NativeBridge.
- Start the
ms3_sim.launch.py
launch file. - Manually drive the vehicle to the pick-up/drop-off zone in front of the doors of the AS office.
- Open a browser to
localhost:8000
to view the web interface. - Click the "Head-in park" button.
Current Behavior
The vehicle drives to and stops a pre-determined distance past the desired parking spot.
Expected behavior
The vehicle drives to and stops a pre-determined distance before the desired parking spot.