Basic Autonomy ignores defined maneuvers for lane following

[saina-ramyar]

Types of Issue

• [x] Anomaly report (something appears to not work correctly)
• [x] Enhancement request (describe the enhancement being requested)
• [ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)

Descriptive summary

During integration test of release/cabin, it was found out that the basic autonomy library ignores the lanelets defined in the lane_ids field of the maneuver message, and generates a list of following lanelets using the getLaneletsBetween method from WM. The problem with this approach is that shortestPath is used to generate the list of lanelets, which is not desirable for some use cases such as platooning.

A partial fix is implemented in this branch: fix/BA_lanelet_list

Carma version where this issue was discovered

integration test of release/cabin

Expected behavior

basic_autonomy uses lanelets defined in the maneuver msg to generate trajectories.

Actual behavior

basic autonomy library ignores the lanelets defined in the lane_ids field of the maneuver message, and generates a list of following lanelets using the getLaneletsBetween method from WM.

Steps to reproduce the actual behavior

1. Do this
2. Then do this...

Related work

[msmcconnell]

Above linked commit contains code which needs to be updated when resolving this issue

[msmcconnell]

Resolved by above PRs