Closed VRichardJP closed 3 months ago
This issue is meant to be assigned to somebody by @xmfcx
Routing fails because of the Route Handler
and its function to remove overlapping lanelets. In this case, the ego lanelet is also removed and it causes the bug.
Since the Route Handler
is used in many different modules, it is hard to fix this bug without affecting the behavior of other modules.
@maxime-clem Ah yes!
I guess the best way to fix that would be to have the route handler send and update partial routes. For example, the first 500m or up to the first overlap (whichever comes first).
This pull request has been automatically marked as stale because it has not had recent activity.
Checklist
Description
Using the planning simulator with the sample map, I have found a strange pattern in which it is either not possible to create a route or the generated route is impossible:
cannot_set_goal-2024-02-01_16.15.53.webm
For example:
I know looped routes are not supported, but I don't think there is any lanelet loop here. Some route lanelet may physically overlap but it should not be a problem?
Expected behavior
No problem to generate any of the routes?
Actual behavior
Autoware refuses some goals.
Steps to reproduce
planning simulator with sample map.
Versions
No response
Possible causes
No response
Additional context
No response