High Level mission planning or task planning

[soblin]

After trying out the tutorials of planning simulation, I'm thinking about practicing a more realistic scenario that contains several visiting points, say point A to E, where the vehicle

• go from A to B
• go from B to C for 2-times (run 2 laps)
• go to C -> D -> E
• go to E -> B (returning)

Here's the diagram I have in mind:

I think giving checkpoints of [A, B], [C, B, C], [D, E], B would be one solution, but it looks like if we give these checkpoints the planner starts from A and then stops at first B, probably because B is the destination (the latter checkpoints seem to be ignored). Ideally I want to let the vehicle execute a given task, not checkpoints, that includes several laps, parking, etc.

Is there any good package for functionality like this ? Thanks.

cc: @kminoda

[takayuki5168]

Currently this function is not supported in Autoware. When the ego is running near the goal, it will stop even if there is a remained path after the goal.

[TakaHoribe]

@soblin Autoware doesn't support circular and return paths currently.
Circular and return routes are not supported by route search in mission_planner. An overwrapped route (e.g. forward and backward) is not tested in behavior_planner or motion_planner thus may cause unintended behavior.

Instead, sending a goal multiple times achieves this behavior.