Difference between "Obstacle Cruise Planner" and "Obstacle Stop Planner"

[felixf4xu]

Hi,

I'm reading the document and very confused about these two packages:

• planning/autoware_obstacle_cruise_planner
• planning/autoware_obstacle_stop_planner

from their readme, they are:

I have to say, they are really similar to each other, I'd like to see some comments about how to understand the difference between those two packages.

[zulfaqar-azmi-t4]

@felixf4xu
The Obstacle Cruise Planner is the successor to the Obstacle Stop Planner. Unlike the Obstacle Stop Planner, which uses the obstacle's point cloud, the Obstacle Cruise Planner takes predicted objects as input. Predicted objects offer a significant advantage as they include the obstacle's predicted path, enabling the planner to adapt based on the obstacle's behavior.