[Feature Requests] Interface to re-route

[rej55]

Currently, with Autoware, once a route is set, it cannot be reset until the route is cleared or the goal is reached.
We would like to be able to reset a route even if the goal is not reached for some reason.

Is it possible to provide some interfaces to reset a route without clearing?

[isamu-takagi]

@rej55 Regarding rerouting while driving, there is already an implementation for pull-over MRM. I have been prototyping an API using this, so I consider to release it.

[isamu-takagi]

autowarefoundation/autoware-documentation#592

[isamu-takagi]

@rej55 Route change API has been added in v1.5.0.
https://autowarefoundation.github.io/autoware-documentation/main/design/autoware-interfaces/ad-api/release/