[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
The freespace planner populates headers with a detached clock causing the output trajectories to use system time instead of sim time when the rest of the stack is using sim time. This causes downstream issues, particularly in the trajectory follower subsystem where the velocity buffer is cleared based on a time threshold which doesn't happen since the discrepancy between the system time and sim time prevents it from meeting the buffer clearance threshold.
Expected behavior
The output trajectory should reflect time from the source specified globally.
Actual behavior
The output trajectory from the freespace planner uses the incorrect clock to populate the header causing the downstream is_steering_converged flag in the trajectory follower from being satisfied.
Steps to reproduce
Launch a simulator with a town which has a parking lot, the default Town05 in CARLA works well.
Launch the Autoware stack and give a goal that takes the vehicle into the parking lot.
Once the vehicle parks, give another goal that takes it back into the lane.
Versions
OS: Ubuntu 22.04
ROS2: Humble
Autoware: Main
Possible causes
Incorrect detached clock being used to populate the header in the trajectory.
stevenbrills
commented
1 month ago
Checklist
Description
The freespace planner populates headers with a detached clock causing the output trajectories to use system time instead of sim time when the rest of the stack is using sim time. This causes downstream issues, particularly in the trajectory follower subsystem where the velocity buffer is cleared based on a time threshold which doesn't happen since the discrepancy between the system time and sim time prevents it from meeting the buffer clearance threshold.
Expected behavior
The output trajectory should reflect time from the source specified globally.
Actual behavior
The output trajectory from the freespace planner uses the incorrect clock to populate the header causing the downstream is_steering_converged flag in the trajectory follower from being satisfied.
Steps to reproduce
Versions
Possible causes
Incorrect detached clock being used to populate the header in the trajectory.
Additional context
No response