control container dies due to AEB

[beyzanurkaya]

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

control_container dies from AEB when EGO goes out of the lanelet

Expected behavior

If ego_path is empty, the function should return false and send an error related to this situation.

Actual behavior

AEB obtains current_pose with ego_path to check if there is a collision:

https://github.com/autowarefoundation/autoware.universe/blob/142bc49b57f6ca002c99efa6406b22ce9012448d/control/autonomous_emergency_braking/src/node.cpp#L362

However, when the EGO goes off the road, the control container dies because the ego_path is empty:

https://github.com/autowarefoundation/autoware.universe/assets/32412808/d5decd89-1bc2-4e6e-a167-84cb12a4887b

Steps to reproduce

• I encountered this problem during the vehicle test and reproduced it with a remote control in the planning simulator. I connected a joystick, enabled the remote control in Rviz, and made the EGO off the lanelet.
• https://github.com/autowarefoundation/autoware_launch/blob/5be51657d8ff49228bf0bafe11101367fbabf552/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml#L5C4-L5C4 set true

Versions

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Possible causes

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Additional context

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[stale[bot]]

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