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Autoware Auto Lane message suggestion

Hello everyone, I am currently using autoware.ai. For the obstacle detection we are using the imm_ukf_pda_track which works quite well for us.
The tracker will output a DetectedObstacle. Our planner will get this message alongside the lane and then output Lane messages. The Lane messaage has some fieds that are related to the closest obstacle like float32 closest_object_distance and float32 closest_object_velocity. But those fields are not the only useful fields related to obstacle detection. For example, to me the velocity_reliable from DetectedObject is mandatory to have.

My suggestion would be to replace the closest_object_velocity in Lane by a a field closest_obstacle of the type DetectedObject.
We would still need to keep the closest_object_distance because it’s not included in the DetectedObject.

What do you think ?
Thanks !

Hey, @Mackou! Unfortunately, Autoware.AI will see its final feature release (1.15.0) within the next month. After this, the only accepted changes will be bug fixes and minor updates (no features/breaking changes). See End-of-Life dates for Autoware.AI for more details. However, this is the perfect time to discuss this in Autoware.Auto! We are just beginning the planning for the Cargo Delivery ODD development cycle. We had our kick-off meeting last week and will be following up with API design later tonight (2020-12-22T07:00:00Z2020-12-22T09:00:00Z). See the shared events calendar for call-in details.