Gear is not changed to PARK on goal anymore.

VRichardJP commented 1 year ago

Checklist

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

Description

During a recent test drive, I observed Autoware does not change the vehicle gear to PARK anymore upon reaching goal. Normally, this piece of code is supposed to do so when ARRIVED_GOAL state is received: https://github.com/autowarefoundation/autoware.universe/blob/001a865bdae040784d3392677cb6d18c82309aac/control/shift_decider/src/shift_decider.cpp#L73-L74

Upon arrival, Autoware state changes quickly from DRIVING to ARRIVED_GOAL, to FINALIZING, then back to WAITING_FOR_ROUTE. Autoware is always in Autonomous mode and the vehicle is always engaged.

Expected behavior

Gear is changed to park upon arrival if park_on_goal_ is true

Actual behavior

Gear unchanged.

Steps to reproduce

Drive autonomously to any goal.

Versions

No response

Possible causes

No response

Additional context

No response

brkay54 commented 1 year ago

I couldn't observe the problem at commit sha in the universe: f627fc30a6730af52348e0605437d7ed6806170e (the latest commit)

Could you recheck whether the issue still occurs or not?

brkay54 commented 1 year ago

Sorry for my mistake, it still occurs. I am going to work on this.

autowarefoundation / autoware.universe