Trigger/Switch different Motion/Local Planners in Apollo 6.0
Hi
Someone would know how to switch for a different planner in Apollo 6.0?
From planning_config.proto file, I am aware they have 4 planners available:
- RTK
- Road Public
- Navi
- Lattice
However there is not a good documentation available on this regard. And few issues on Apollo github related to this. I would like to find and trigger a local planner (among the 4 described above) able to avoid a static obstacle. And not get stuck as you can check on video below:
https://www.youtube.com/watch?v=9keDL...
The complete description of my issue is described here:
https://github.com/ApolloAuto/apollo/...
https://github.com/lgsvl/simulator/is...
Some Apollo users suggested long time ago (in older Apollo versions) that was necessary to change the code on planning_config.proto file and compile everything again:
https://github.com/ApolloAuto/apollo/...
However this generated a bunch of errors...
