Taking account of the very last waypoint buffer (#2407)

* Taking account for the very last waypoint buffer

* Update CHANGELOG.md

* Removing unused variables (Travis)

* Update CHANGELOG.md

Co-authored-by: Praveen Kumar <35625166+pravinblaze@users.noreply.github.com>
Co-authored-by: bernat <bernatx@gmail.com>
Co-authored-by: Marc Garcia Puig <marcgpuig@gmail.com>

CHANGELOG.md

@@ -27,6 +27,7 @@
   * New python clients:
     - `weather.py`: allows weather changes using the new weather parameters
   * Fixed docker build of .BIN for pedestrian navigation
+  * Fixed local_planner.py: agent will now stop when it reaches the desired destination
   * Fixed crash when missing elevation profile and lane offset in OpenDRIVE
   * Fixed typos
   * Fixed agent failures due to API changes in is_within_distance_ahead()

PythonAPI/carla/agents/navigation/local_planner.py

@@ -14,7 +14,7 @@ import random
 
 import carla
 from agents.navigation.controller import VehiclePIDController
-from agents.tools.misc import distance_vehicle, draw_waypoints
+from agents.tools.misc import draw_waypoints
 
 
 class RoadOption(Enum):
@@ -199,7 +199,7 @@ class LocalPlanner(object):
         if not self._global_plan and len(self._waypoints_queue) < int(self._waypoints_queue.maxlen * 0.5):
             self._compute_next_waypoints(k=100)
 
-        if len(self._waypoints_queue) == 0:
+        if len(self._waypoints_queue) == 0 and len(self._waypoint_buffer) == 0:
             control = carla.VehicleControl()
             control.steer = 0.0
             control.throttle = 0.0
@@ -242,8 +242,7 @@ class LocalPlanner(object):
         return control
 
     def done(self):
-        vehicle_transform = self._vehicle.get_transform()
-        return len(self._waypoints_queue) == 0 and all([distance_vehicle(wp, vehicle_transform) < self._min_distance for wp in self._waypoints_queue])
+        return len(self._waypoints_queue) == 0 and len(self._waypoint_buffer) == 0
 
 def _retrieve_options(list_waypoints, current_waypoint):
     """