Force Parking Spot Start/Goal Locations to Be Consistent
Description
The Parking Planner is incredibly sensitive to even small changes in the starting or ending location of the desired route. In order to guarantee consistent results, the location of the starting or ending location within a parking spot should be standardized in all dimensions (x, y, z, and orientation) for a given parking spot.
How to Reproduce
Using the MS3 demo, try to park in the same parking spot and return to the pick-up/drop-off point multiple times using the 2D Nav Goal tool in rviz
.
Current Behavior
The ability for the Parking Planner to succeed or fail to calculate a feasible trajectory is very dependent upon the position of the starting or goal location within the parking spot.
Expected behavior
Parking Planner should behave consistently for a given parking spot.