Proper Usage of /api/routing/change_route_points

[Somdit]

Hi everyone,

I am currently trying to use the service call /api/routing/change_route_points to create an overtaking path around a static obstacle. My approach is to assign a goal on the same straight lane, with more than three intermediate waypoints taken from the adjacent lane (extracted from the lanelet2 map).

However, the generated path still follows the original straight lane, which will be created if I had assigned only the goal pose

I am wondering if I might be using the service call incorrectly, or if the downstream module of Autoware are ignoring these intermediate waypoints and replanning based solely on the goal.

Any insights or suggestions would be greatly appreciated! Thanks!

[soblin]

Can you more elaborate the situation with some images or figure ?

[Somdit]

Hi @soblin,
Thanks for your reply.

This is the service call I am trying to use: change_route_points

The following diagram shows what I am trying to achieve. There is an static obstacle blocking the route of the ego to reach the goal pose. Therefore, I am trying to call the service call, which contains goal pose and waypoint poses to assign the original goal, with intermediate waypoints from the adjacent path (i.e. red dots), to create a path that can side pass the static obstacle.

While this is what I am expecting, the created path will still be a straight line towards the goal (i.e. the original path in green), not the path that what to create (i.e. path including the red waypoints)

Let me know if you need additional information. Thanks for your help!