CTE consequences should be handled by Tracking about carma-platform HOT 4 CLOSED

I believe in the original design. Tracking was responsible for trajectory errors not route errors. Changing this would require some rework of route and ros topics. We would need the crosstrack and downtrack values to be published in sync with the current segment. The easiest way might be to combine the two topics. The state machine in route would also need to be changed to be dependent on signals from tracking.

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I do not believe this needs to be addressed in CARMA 2. However, there are two distinct CTE concepts in CARMA 3. There is the crosstrack error relative to the route which should still be handled by the route node in my opinion, and there is the crosstrack error relative to a desired lateral control path described by local planning. The local path error should be handled by Tracking as this would be a part of the planned trajectory.

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This issue was transferred from the original CARMAPlatform: Old issue # 365

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Closed as OBE in carma3 and noted on the CARMA2 tracker spreadsheet

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