Freespace planner become not to receive new goals

[TakumIto]

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

If freespace planner fails to find a goal once, it becomes not to receive a new goal pose. And no new trajectories are searched.

https://github.com/autowarefoundation/autoware.universe/assets/61740530/819ade04-9046-47cc-9e20-562635df9a60

Expected behavior

When the new goal is set, freespace planner starts to search for a trajectory for a new goal.

Actual behavior

Freespace planner does not receive new goals and does not search for new trajectories.

Steps to reproduce

1. Launch planning simulator
2. set ego vehicle to the center of the parking area (see the figure).
3. set goal pose to the unreachable place (see the figure).
4. No new trajectories are searched when you put a new goal.

Versions

• OS: ubuntu 22.04
• ROS2: humble
• Autoware: main at Tue Apr 2

Possible causes

When freespace planner is given an unreachable goal pose, method algo->makePlan() is called and search a trajectory for the goal permanently, resulting stack. Thus, the callback function onRoute does not be called when you put a new goal and the new goal does not be set.

Additional context

No response

[kosuke55]

internal discussion: https://star4.slack.com/archives/C0575HP7NJG/p1713319369888399?thread_ts=1713312199.577169&cid=C0575HP7NJG

maybe we can solve the issue by separating the callback group between main timer and subscriver like https://github.com/autowarefoundation/autoware.universe/blob/3aa84b00dd738414c0cbfc0f02c9a16b77003661/planning/behavior_path_planner/src/behavior_path_planner_node.cpp#L33-L43

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.