`behavior_planning_container`dies while turning to the right.

Kim-mins commented 6 months ago

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

Hi team,

I'm currently running Autoware with Carla, and I found a situation that the behavior_planning_container dies while turning to the right, and the ego vehicle cannot drive after all.

Here are the videos of the situation: [rviz] [frontview]

At 0:30 of the rviz video, the planned trajectory is not updated anymore and the vehicle eventually stops, not reaching the destination.

I also checked the launch.log file, and I found a log that saids behavior_planning_container died:


1711198611.2581947 [ERROR] [component_container_mt-68]: process has died [pid 2463, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=True -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7'].

Expected behavior

I wanted the ego vehicle to drive to the destination with no error.

Actual behavior

But the ego vehicle could not reach to the goal, due to the module error.

Steps to reproduce

Here's the ros2bag file for the reproduction: [ros2bag]

Versions

Autoware: 20240115, prebuilt docker
Carla: 0.9.13
OS (host): Ubuntu 20.04
OS (docker): Ubuntu 22.04

Possible causes

No response

Additional context

I wanted to investigate more to find the cause of this error and I tried this answer, but failed. If anyone tells me the way to use gdb, I think I can investigate more.

stale[bot] commented 4 months ago

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

wbq0206 commented 1 month ago

At the same time, I would like to consult with everyone whether there is a better planning method for turning left on non motorized vehicle lanes

autowarefoundation / autoware.universe