Global path planner generates infeasible path when the orientation of goal_pos is not aligned with the lane

[squizz617]

Bug report

Required information:

• Operating system and version: Ubuntu 18.04
• Autoware installation type: Docker image autoware/autoware:1.14.0-melodic-cuda, as specified in the Dockerfile of https://github.com/carla-simulator/carla-autoware at commit 975b6f3.
• Autoware version or commit hash - 1.14.0
• ROS distribution and version:
  • ROS Melodic (pre-installed in the docker image)
• ROS installation type:
  • Pre-installed in the docker image

Description of the bug

• I am running Autoware 1.14.0 (docker image: autoware/autoware:1.14.0-melodic-cuda), Carla 0.9.10.1 (docker image: carlasim/carla:0.9.10.1) as a simulator and carla-autoware-bridge at 975b6f3 as a bridge.
• As described in the title, when the orientation of the goal_pos is not aligned with the lane, global planner generates an infeasible path.
  • Case 1: Final orientation heads west, the global path cuts through curb.
  • Case 2: Final orientation heads east, the global path makes a huge detour, and invades multiple lanes en route.

Steps to reproduce the bug

• Replay the rosbag file of case 1 and the rosbag file of case 2

Expected behavior

Path planner should reliably generate feasible paths regardless of the final orientation.

Actual behavior

Path planner generates infeasible paths if the final orientation is not aligned with the lane.

[JWhitleyWork]

We would be happy to accept a Pull Request to fix this issue!