Open kasper-helm opened 1 year ago
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@kasper-helm Thank you so much for your report and sorry for late response :sob: If it's possible, could you give me the information how to reproduce problem? (e.g. which version of autoware you are using, how did you launch autoware, which comman did you run to publish trajectory.
I think I fixed it by adding the following line above https://github.com/autowarefoundation/autoware.universe/blob/main/control/control_performance_analysis/src/control_performance_analysis_core.cpp#L378
if (!idx_prev_wp_) { return std::nullopt; }
@kasper-helm Wonderful thanks! Sorry for not supporting well :cry: If you create PR, I will review the PR :+1:
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Checklist
Description
I have seen
control_performance_analysis
crash when theidx_prev_wp_
pointer is not initialized, and is dereferenced on https://github.com/autowarefoundation/autoware.universe/blob/main/control/control_performance_analysis/src/control_performance_analysis_core.cpp#L378acceptable_max_distance_to_waypoint_
from the trajectory, or the heading error is larger thanacceptable_max_yaw_difference_rad_
, which causesclosest_segment
to be empty, and theidx_prev_wp_
to remain uninitializedExpected behavior
The node should safely handle the case where
closest_segment
is emptyActual behavior
Steps to reproduce
Trajectory
message to test the Autoware control component without the planning componentVersions
No response
Possible causes
No response
Additional context
No response