{"action":"created","issue":{"url":"https://api.github.com/repos/CPFL/Autoware/issues/1337","repository_url":"https://api.github.com/repos/CPFL/Autoware","labels_url":"https://api.github.com/repos/CPFL/Autoware/issues/1337/labels{/name}","comments_url":"https://api.github.com/repos/CPFL/Autoware/issues/1337/comments","events_url":"https://api.github.com/repos/CPFL/Autoware/issues/1337/events","html_url":"https://github.com/CPFL/Autoware/issues/1337","id":333825881,"node_id":"MDU6SXNzdWUzMzM4MjU4ODE=","number":1337,"title":"Using lane change in global path with way_planner ","user":{"login":"hadiTab","id":15492016,"node_id":"MDQ6VXNlcjE1NDkyMDE2","avatar_url":"https://avatars0.githubusercontent.com/u/15492016?v=4","gravatar_id":"","url":"https://api.github.com/users/hadiTab","html_url":"https://github.com/hadiTab","followers_url":"https://api.github.com/users/hadiTab/followers","following_url":"https://api.github.com/users/hadiTab/following{/other_user}","gists_url":"https://api.github.com/users/hadiTab/gists{/gist_id}","starred_url":"https://api.github.com/users/hadiTab/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hadiTab/subscriptions","organizations_url":"https://api.github.com/users/hadiTab/orgs","repos_url":"https://api.github.com/users/hadiTab/repos","events_url":"https://api.github.com/users/hadiTab/events{/privacy}","received_events_url":"https://api.github.com/users/hadiTab/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":3,"created_at":"2018-06-19T20:26:26Z","updated_at":"2018-06-28T11:01:20Z","closed_at":null,"author_association":"NONE","body":"I have enabled lane change in OpenPlanner using as suggested by @hatem-darweesh [here](https://groups.google.com/d/msg/autoware/NlhDom76h8w/_dsTrn1YAwAJ). However, I still cannot plan a global path using way_planner that will include a lane change even when I use the vector maps for the quickstart demo.\r\n\r\nThis is the message I get when trying to set a route:\r\n```\r\nPlannerH -> Plan (A) Failed, Trying Plan (B).\r\nCan't Generate Global Path for Start (X:-14864.6430664, Y:-84713.5060196, Z:39, A:-2.8795759087\r\nLon:0, Lat:0, Alt:0, Dir:0\r\n) and Goal (X:-14917.6296844, Y:-84725.7631149, Z:39, A:-2.85309831858\r\nLon:0, Lat:0, Alt:0, Dir:0\r\n)\r\n```\r\n\r\nThis is how I am setting the route:\r\n1) set pose:\r\n![image](https://user-images.githubusercontent.com/15492016/41622200-b4058856-73c3-11e8-91a6-5992f436750e.png)\r\n\r\n2) set nav goal:\r\n![image](https://user-images.githubusercontent.com/15492016/41622245-deeaf470-73c3-11e8-9e41-0ad819b8cda6.png)\r\n\r\nIf I try something similar over the turn at the start of the map I get some weird forking path:\r\n![image](https://user-images.githubusercontent.com/15492016/41622407-51a48f94-73c4-11e8-8279-beb461129192.png)\r\n\r\n"},"comment":{"url":"https://api.github.com/repos/CPFL/Autoware/issues/comments/400997421","html_url":"https://github.com/CPFL/Autoware/issues/1337#issuecomment-400997421","issue_url":"https://api.github.com/repos/CPFL/Autoware/issues/1337","id":400997421,"node_id":"MDEyOklzc3VlQ29tbWVudDQwMDk5NzQyMQ==","user":{"login":"hatem-darweesh","id":20182801,"node_id":"MDQ6VXNlcjIwMTgyODAx","avatar_url":"https://avatars3.githubusercontent.com/u/20182801?v=4","gravatar_id":"","url":"https://api.github.com/users/hatem-darweesh","html_url":"https://github.com/hatem-darweesh","followers_url":"https://api.github.com/users/hatem-darweesh/followers","following_url":"https://api.github.com/users/hatem-darweesh/following{/other_user}","gists_url":"https://api.github.com/users/hatem-darweesh/gists{/gist_id}","starred_url":"https://api.github.com/users/hatem-darweesh/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hatem-darweesh/subscriptions","organizations_url":"https://api.github.com/users/hatem-darweesh/orgs","repos_url":"https://api.github.com/users/hatem-darweesh/repos","events_url":"https://api.github.com/users/hatem-darweesh/events{/privacy}","received_events_url":"https://api.github.com/users/hatem-darweesh/received_events","type":"User","site_admin":false},"created_at":"2018-06-28T11:01:20Z","updated_at":"2018-06-28T11:01:20Z","author_association":"CONTRIBUTOR","body":"Hi hadiTab, \r\n\r\nI tested the lane change, it works. \r\n\r\ncheck this video \r\nhttps://youtu.be/o6NndnQLJHA\r\n\r\nRegards, \r\n"}}
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