The node of behavior_path_planner dies in some conditions

[shulanbushangshu]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

The node of behavior_path_planner dies when I set target in change lane.The simulation is shown as below:

note:

Lane change is not allowed in the area within the red border.
I print out information of path and the size of points of path is zero in lane_following.

Expected behavior

The node of behavior_path_planner shall not die in any conditions of lanes and target.

Actual behavior

The node of behavior_path_planner dies in some conditions of lanes and target.

Steps to reproduce

1.Start autoware planning simulator;
2. Set initial position
3. Set target in the change lane(there are more than two lanes and the distance of lane change shall is not enough)

Versions

1.OS: Ubuntun 20.04
2.ROS2: Galactic
3.Autoware: Autoware.universe:main

Possible causes

No response

Additional context

No response

[zulfaqar-azmi-t4]

Hi @shulanbushangshu
Thank you very much for the report.
The bug probably is related to the #2473

There is a bit delay due to some circumstances, but I'll try fix it as soon as possible.

[zulfaqar-azmi-t4]

@shulanbushangshu
Can you help to confirm whether #2615 solve this issue ?
thank you very much in advance.

[shulanbushangshu]

@zulfaqar-azmi-t4
I change the codes with #2615 and finish the simulation.

case1:

case2:
I set the target in the third lane and the distance of lane change shall is not enough.

The node of behavior_path_planner still died.

[zulfaqar-azmi-t4]

@shulanbushangshu
Now I understand. Thank you very much.

[zulfaqar-azmi-t4]

@shulanbushangshu
Is this the latest commit in the upstream?
I couldn't reproduce the error, therefore, could you share to me the lanelet map file?

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[zulfaqar-azmi-t4]

@shulanbushangsh
is there any update regarding this issue?
If not, I might close the thread.

[shulanbushangshu]

@zulfaqar-azmi-t4
The lanelet2_map:
lanelet2_map.zip

The position of testing lane:

[shulanbushangshu]

I test the issue in the autoware of humble.There is still problem and the test is as follows:


I have updated the pr

[shulanbushangshu]

It is fixed in the newest code. I close the issue