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usdot-fhwa-stol / carma-platform

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 :
https://usdot-fhwa-stol.github.io/documentation/carma-platform/
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Lane change trajectory generation occasionally takes longer than the 100 ms limit imposed by Plan Delegator #2075

Closed JonSmet closed 1 year ago

JonSmet commented 1 year ago

Summary

During Freight Emergency Response Use Case integration testing at Suntrax, it was discovered that lane change trajectory generation frequently failed when called by plan_delegator, since the trajectory generation often took longer than the 100 ms limit set by plan_delegator here. Lane change lengths were often ~70-100 meters long during these tests.

Version

4.3.0 (Current)

Expected Behavior

It is expected that lane change trajectory generation occurs quickly enough to meet the 100 ms limit set within plan_delegator.

Actual Behavior

Lane change trajectory generation often took longer than 100 ms (approximately 80-150 ms on average for lane change lengths of 70-100 meters), which can cause plan_delegator to not publish updated trajectory.

Steps to Reproduce the Actual Behavior

  1. Start CARMA Platform and engage on a route with a lane change
  2. Inspect basic_autonomy_ros2 logs (with log level set to DEBUG) to identify the length of time taken to generate lane change trajectories

Related Work

No response

JonSmet commented 1 year ago

Closed by #2074