Parking Planner fails to calcuate Head-In trajectory
Attempting to park in a parking spot with the front of the vehicle to the rear of the parking spot fails due to the offset in the map introduced by !839 (merged).
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.