Manual Lane Change Handler

Purpose

Manual Lane Change Handler helps shift the preferred-primitives of a route to the left or right. A manual lane-change handler rviz plugin is also available for use for the user.

Example for using the Manual Lane Change Handler

Service call to shift the preferred-lanes to the left

ros2 service call /planning/mission_planning/manual_lane_change_handler/set_preferred_lane tier4_external_api_msgs/srv/SetPreferredLane lane_change_direction:\ 0\

Services

Name	Type	Description
/planning/manual_lane_change_handler/manual_lane_change_handler/set_preferred_lane	tier4_external_api_msgs/srv/SetPreferredLane	preferred-lane request

Subscriptions

Name	Type	Description
input/odometry	nav_msgs/msg/Odometry	vehicle odometry
/planning/mission_planning/route	autoware_planning_msgs/msg/LaneletRoute	current lanelet route

Publications

Name	Type	Description
~/debug/processing_time_ms	autoware_internal_debug_msgs/msg/Float64Stamped	processing time for lane change for debug
~/debug/route_marker	visualization_msgs/msg/MarkerArray	route marker for debug
~/debug/goal_footprint	visualization_msgs/msg/MarkerArray	goal footprint for debug

Service client

Service Name	Description
~/set_preferred_lane	The service to set the preferred lane

Registered Servers

Service Name	Description
/planning/mission_planning/mission_planner/set_preferred_primitive	The service to set the preferred primitive

Setting Preferred Lane

This service allows for shifting the current preferred lane to the left or right, or reverting to the default preferred lane received from the route planner. As the vehicle moves, the shifting is done relative to the current preferred lane.

Based on certain criteria, shifting may be rejected, as in the following cases:

1. Left or Right shift is not available due to no lane being present to shift to
2. The next segment is a turn or the very last lane - this is to ensure that we can navigate the enter path and end up at the goal