Why sometimes the waypoint given in follow_new_path has approach lanes more than 1? (#299)

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1

Posted by @[Missing data]:

Hi @mxgrey

I noticed that somethimes the waypoint given in the follow_new_path has appoach lanes more than 1.
Considering the following case.
From wp1 to wp4, the scheduled path is wp1->wp2->wp3->wp4. Generally, the waypoints given in the follow_new_path will include 8 wps (wp1, wp1, wp2, wp2, wp3, wp3, wp4, wp4). But if wp1 is very close to wp2. in my case, the distance between them is smaller than 1.2 meters, the wps in follow_new_path will not include wp2, namely (wp1, wp1, wp3,wp3,wp4,wp4), and the approach lanes in wp3 has 2 lanes (wp1->wp2, and wp2->wp3) .
Why does this happen?
And is there any possibility that I can avoid this kind of behavior?

Thanks
Stella

2

Posted by @[Missing data]:

Hi @mxgrey

We finally find if wp1, wp2, wp3 are in the same straight line, the case described above will occur. :slight_smile: When we modified the graph, the above case did not happen again.