Emergency stop is operated while parking

[ahmeddesokyebrahim]

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

Fixes #5539

Currently, we are working on a task for fixing and improving Autoware logging system as Autoware creates a noisy debugging environment, making it challenging to identify and address genuine issues.

For more details about the issue, plan how to tackle it, and linked PR, please have a look here.

For this bug, when using planning simulator for a parking scenario, Autoware throws a warning message from emergency_handler saying

• [system.emergency_handler]: Emergency stop is operated (callMrmBehavior() at ~/autoware/src/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp:243)

This video demonstrates the issue.

Expected behavior

Emergency stop should not be operated while parking

Actual behavior

Emergency stop is operated while parking

Steps to reproduce

1. Open planning simulator
2. Plan vehicle start pose and goal pose achieving parking scenario like in this video
3. Let Autoware drive autonomously and check for the warning message for emergency_handler

You may use the PRs mentioned here for having more comfortable logging messages, if you want.

Versions

No response

Possible causes

No response

Additional context

No response

[ahmeddesokyebrahim]

@mkuri : I would highly appreciate if you can have a look and support in this issue.