Global Path Planner not able to find solution (do proper lane changes) after update

[TUMGEKA]

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

Hey Guys in a older Version of autoware (June 2023) the following Situation was solved like this:

Now after updating and trying the exact same start and goal position, I am getting the following error: [component_container_mt-35] [INFO] [1699982942.678037694] [default_ad_api.node.routing]: server call: /api/routing/set_route_points [component_container_mt-35] [INFO] [1699982942.678220791] [default_ad_api.node.routing]: client call: /planning/mission_planning/set_route_points [component_container-24] [INFO] [1699982942.678287139] [planning.mission_planning.mission_planner]: server call: /planning/mission_planning/set_route_points [component_container-24] [INFO] [1699982942.678373627] [planning.mission_planning.mission_planner]: start planning route with check points: [component_container-24] x: 43.9343 y: 67.6709 [component_container-24] x: -48.805 y: 33.2132 [component_container-24] [component_container-24] [ERROR] [1699982942.679321177] [route_handler]: Failed to find a proper route! [component_container-24] - start checkpoint: (43.9343, 67.6709,0) [component_container-24] - goal checkpoint: (-48.805, 33.2132,0) [component_container-24] - start lane id: 24461 [component_container-24] - goal lane id: 26908 [component_container-24] [component_container-24] [WARN] [1699982942.679330758] [planning.mission_planning.mission_planner]: Failed to plan route. [component_container-24] [INFO] [1699982942.679353695] [planning.mission_planning.mission_planner]: server exit: /planning/mission_planning/set_route_points [component_container_mt-35] [INFO] [1699982942.679418727] [default_ad_api.node.routing]: client exit: /planning/mission_planning/set_route_points [component_container_mt-35] [INFO] [1699982942.679430471] [default_ad_api.node.routing]: server exit: /api/routing/set_route_points [service_log_checker-2] [ERROR] [1699982942.679431170] [system.service_log_checker]: /planning/mission_planning/set_route_points: status code 3 'The planned route is empty.' (/planning/mission_planning/mission_planner) [service_log_checker-2] [ERROR] [1699982942.679496426] [system.service_log_checker]: /planning/mission_planning/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/node/routing) [service_log_checker-2] [ERROR] [1699982942.679536886] [system.service_log_checker]: /api/routing/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/node/routing) [routing_adaptor-38] [INFO] [1699982942.679536917] [default_ad_api.helpers.routing_adaptor]: client exit: /api/routing/set_route_points [service_log_checker-2] [ERROR] [1699982942.679595503] [system.service_log_checker]: /api/routing/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/helpers/routing_adaptor)

It seems like the global path planner got worse doing lane changes.

Expected behavior

The Path planner should be able to reach the destination by doing a lange change.

Actual behavior

The planner cannot find a proper route

Steps to reproduce

1. Load Town10HD here: https://bitbucket.org/carla-simulator/autoware-contents/src/master/
2. Start planning sim
3. Set start Position: Frame:map, Position(43.9343, 67.6709, 0), Orientation(0, 0, 0.999993, 0.0036383) = Angle: 3.13432
4. Set Goal Position Frame:map, Position(-48.805, 33.2132, 0), Orientation(0, 0, -0.707468, 0.706745) = Angle: -1.57182

Versions

No response

Possible causes

No response

Additional context

No response

[zulfaqar-azmi-t4]

@TUMGEKA Thank you very much for the report. Based on the observation, chances are it is not the lane change module issue but more on route set when placing the goal issue.

Let me check this and get back to you once we found out the root cause.

[nourhanMohamed0]

Hi i'm using Autoware.universe and i followed the steps of installing autoware from documentation and in last video in launching when i determine the goal using 2D pose Goal it gives me in terminal like this : [component_container-24] [ERROR] [1701464195.571239563] [route_handler]: Failed to find a proper route! [component_container-24] - start checkpoint: (3664.01, 73748,0) [component_container-24] - goal checkpoint: (3698.31, 73758,0) [component_container-24] - start lane id: 159 [component_container-24] - goal lane id: 118 [component_container-24] [component_container-24] [WARN] [1701464195.571274008] [planning.mission_planning.mission_planner]: Failed to plan route. [component_container-24] [INFO] [1701464195.571332069] [planning.mission_planning.mission_planner]: server exit: /planning/mission_planning/set_route_points [component_container_mt-35] [INFO] [1701464195.571466123] [default_ad_api.node.routing]: client exit: /planning/mission_planning/set_route_points [component_container_mt-35] [INFO] [1701464195.571466774] [default_ad_api.node.routing]: server exit: /api/routing/set_route_points [service_log_checker-2] [ERROR] [1701464195.571451926] [system.service_log_checker]: /planning/mission_planning/set_route_points: status code 3 'The planned route is empty.' (/planning/mission_planning/mission_planner) [service_log_checker-2] [ERROR] [1701464195.571592293] [system.service_log_checker]: /planning/mission_planning/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/node/routing) [service_log_checker-2] [ERROR] [1701464195.571638080] [system.service_log_checker]: /api/routing/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/node/routing)

and car is not moving .. then what should i do ? I downloaded Town10HD then what

[zulfaqar-azmi-t4]

@TUMGEKA

I have checked the route handler and the mission planner, and there are no known changes that might have caused the issue.

I took a look at the Town10HD map itself, and it seems to me that the map may not be compliant with Autoware requirements (https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_core/doc/LinestringTagging.md).

Note: I had to use third-party apps to change load the map, to allow me to be able to load the map in the vector map builder.

As this issue is related to the map, rather than Autoware, I would suggest that you edit the map itself based on the tagging described in the Lanelet2 documentation.

[zulfaqar-azmi-t4]

@nourhanMohamed0

Sorry for the late response. The error message is not so clear, so sorry for that. Can you provide more detail or video of how you place the ego vehicle and the goal? At the moment, at least for the Town10HD, i am able to do lane following.

[nourhanMohamed0]

@zulfaqar-azmi-t4 no problem at all , the issue was solved thank you❤️

[VietPT3502]

@TUMGEKA

I have checked the route handler and the mission planner, and there are no known changes that might have caused the issue.

I took a look at the Town10HD map itself, and it seems to me that the map may not be compliant with Autoware requirements (https://github.com/fzi-forschungszentrum-informatik/Lanelet2/blob/master/lanelet2_core/doc/LinestringTagging.md).

Note: I had to use third-party apps to change load the map, to allow me to be able to load the map in the vector map builder.

As this issue is related to the map, rather than Autoware, I would suggest that you edit the map itself based on the tagging described in the Lanelet2 documentation.

Hello, which third-party apps did you use to change load the map. Can you share detail about that.

[zulfaqar-azmi-t4]

@VietPT3502 Hi, I'm using josm.

[zulfaqar-azmi-t4]

@TUMGEKA May I know what is the status for this issue? I would suggest to create a new map/modify the map so that it is compliant with how autoware expectation.

I will close this issue for now. But if your map modification also doesn't work, the please feel free to re-open this issue.