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 :
During V2I integration testing of Emergency Response Use Case, it was discovered that sometimes the passed destination points can be broadcasted to the CMV despite carma-cloud's best efforts. The reason is unknown and could be due to race condition or difference in logic between determining location of the ERV. Either way, having extra guard to only route for future points (including past points in routing fails in lanelet) in the ERV would improve the stability of the plugin as not being able to route means losing track of the ERV altogether.
CMV is able to route given the destination points for ERV
Actual Behavior
Currently carma-platform is not able to route if for example 6 points were given, but the location of the ERV is in the middle of the three. This would mean to "go back" to pass through the passed points, which is not possible and the logic fails.
Steps to Reproduce the Actual Behavior
Setup V2I testing scenario.
Start CMV early.
Start ERV later on broadcasting BSMs to the infrastructure.
Notice that the points are being deducted from the BSM's part 2 message on ERV.
Yet still notice that the CMV is not able to route with given deducted points, but is only able to route once there is only 1 point left, which is always mostly far away ahead.
JonSmet
commented
1 year ago
Summary
During V2I integration testing of Emergency Response Use Case, it was discovered that sometimes the passed destination points can be broadcasted to the CMV despite carma-cloud's best efforts. The reason is unknown and could be due to race condition or difference in logic between determining location of the ERV. Either way, having extra guard to only route for future points (including past points in routing fails in lanelet) in the ERV would improve the stability of the plugin as not being able to route means losing track of the ERV altogether.
Commit
https://github.com/usdot-fhwa-stol/carma-platform/commit/a7039cc42f9e1a2950749a03438a1d3c0b758d04
Expected Behavior
CMV is able to route given the destination points for ERV
Actual Behavior
Currently carma-platform is not able to route if for example 6 points were given, but the location of the ERV is in the middle of the three. This would mean to "go back" to pass through the passed points, which is not possible and the logic fails.
Steps to Reproduce the Actual Behavior
Setup V2I testing scenario. Start CMV early. Start ERV later on broadcasting BSMs to the infrastructure. Notice that the points are being deducted from the BSM's part 2 message on ERV. Yet still notice that the CMV is not able to route with given deducted points, but is only able to route once there is only 1 point left, which is always mostly far away ahead.
Related Work
No response