CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication. Doxygen Source Code Documentation :
[x] Anomaly report (something appears to not work correctly)
[ ] Enhancement request (describe the enhancement being requested)
[ ] Other (please ensure the description clarifies why the issue doesn’t fall into either of the above categories)
Descriptive summary
The trajectory generation logic in basic_autonomy fails to compute a trajectory when the vehicle's current pose (at time of planning) is close to the end of the trajectory (within curve-resampling distance of the last two points of the associated maneuver). This causes a check within basic_autonomy to fail and return an empty trajectory.
Carma version where this issue was discovered
CARMA Platform 3.8.0
Expected behavior
The basic_autonomy logic should return at minimum the current pose and the end pose of the trajectory as valid trajectory points for any trajectory plan where the vehicle has not yet crossed the end of the maneuver.
A more proper fix later would involve implementing more sophisticated handling of interaction between the plan delegator and the tactical plugins to indicate maneuver execution completion.
Actual behavior
The ILC plugin fails to generate trajectory causing a system exception.
Steps to reproduce the actual behavior
The issue is largely stochastic in it's appearance, as it depends on the timing of the planning window with respect to the vehicle's pose at the end of the trajectory. But it does appear repeatedly in XIL simulation.
Types of Issue
Descriptive summary
The trajectory generation logic in basic_autonomy fails to compute a trajectory when the vehicle's current pose (at time of planning) is close to the end of the trajectory (within curve-resampling distance of the last two points of the associated maneuver). This causes a check within basic_autonomy to fail and return an empty trajectory.
Carma version where this issue was discovered
CARMA Platform 3.8.0
Expected behavior
The basic_autonomy logic should return at minimum the current pose and the end pose of the trajectory as valid trajectory points for any trajectory plan where the vehicle has not yet crossed the end of the maneuver.
A more proper fix later would involve implementing more sophisticated handling of interaction between the plan delegator and the tactical plugins to indicate maneuver execution completion.
Actual behavior
The ILC plugin fails to generate trajectory causing a system exception.
Steps to reproduce the actual behavior
The issue is largely stochastic in it's appearance, as it depends on the timing of the planning window with respect to the vehicle's pose at the end of the trajectory. But it does appear repeatedly in XIL simulation.
Related work
This issue should be fixed in #1696