fix(obstacle_avoidance_planner): solution of changing the sampling distance of behavior velocity planner causing obstacle avoidance planner to die

[shulanbushangshu]

Description

When changing the sampling length in the"behavior_velocity_planner" node, the "obstacle_avoidance_planner"node will die. The length in the "obstacle_avoidance_planner" node is 5 (fixed). When it is changed to a value greater than 5 in the "behavior_velocity_planner"node, the "obstacle_avoidance_planner" node will die when the vehicle reaches the destination.

Related links

https://github.com/autowarefoundation/autoware.universe/issues/798

Tests performed

Current simulation:

Modified simulation:

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[codecov[bot]]

Codecov Report

Merging #1369 (d3aa60e) into main (797389d) will decrease coverage by 0.19%. The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1369      +/-   ##
========================================
- Coverage   9.63%   9.44%   -0.20%     
========================================
  Files       1097    1096       -1     
  Lines      77242   76707     -535     
  Branches   17748   16991     -757     
========================================
- Hits        7445    7244     -201     
- Misses     62548   62851     +303     
+ Partials    7249    6612     -637     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.49% <0.00%> (-0.13%)	:arrow_down:	Carriedforward from 885a6f6

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
planning/obstacle_avoidance_planner/src/node.cpp	0.00% <0.00%> (ø)
...include/tier4_autoware_utils/geometry/geometry.hpp	91.04% <0.00%> (-4.27%)	:arrow_down:
...t/src/geometry/test_path_with_lane_id_geometry.cpp	48.48% <0.00%> (-4.02%)	:arrow_down:
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	:arrow_down:
...vior_velocity_planner/include/utilization/util.hpp	3.84% <0.00%> (-0.33%)	:arrow_down:
...anning_evaluator/src/metrics/stability_metrics.cpp	92.85% <0.00%> (-0.25%)	:arrow_down:
...autoware_utils/test/src/geometry/test_geometry.cpp	40.57% <0.00%> (-0.12%)	:arrow_down:
planning/behavior_velocity_planner/src/node.cpp	0.45% <0.00%> (-0.01%)	:arrow_down:
planning/behavior_path_planner/src/utilities.cpp	1.05% <0.00%> (-0.01%)	:arrow_down:
perception/tensorrt_yolo/src/nodelet.cpp	0.00% <0.00%> (ø)
... and 119 more

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[shulanbushangshu]

@kosuke55

[taikitanaka3]

@shulanbushangshu Thank you for your PR. Your branch looks this PR is not included https://github.com/autowarefoundation/autoware.universe/pull/1320 can you include this PR and test this again?

[shulanbushangshu]

@taikitanaka3 .Thank you for your review,I will confirm the code and retest

[shulanbushangshu]

@taikitanaka3 @kosuke55 ,I have confirmed the code and retest:

Modified simulation:

[taikitanaka3]

@shulanbushangshu Thank you. Modified simulation will not die at obstacle avoidance planner ~but dies at behavior velocity planner~?

[taikitanaka3]

@shulanbushangshu I've tested with this PR as you suggests ego can't goal without this PR with this PR

Do you have any good suggestion to arrive goal?

[takayuki5168]

Thank you for your discussion. I'll look into the problem to realize both reaching the goal and the node keeping alive. Please wait a bit.

[shulanbushangshu]

@taikitanaka3 @takayuki5168 Thank you for your review.I fix the problem of not reaching the goal.Can you check it?

[taikitanaka3]

@shulanbushangshu Thank you , but build is failed because of writing const value. @takayuki5168 ~FYI with this change I confirm this problem is fixed~

[shulanbushangshu]

@taikitanaka3 Yes,I forget to change the "const".I fix it.

[taikitanaka3]

@shulanbushangshu If i am not wrong this bug is only reproduces with setting behavior velocity planner sampling interval more than 5m, and that setting is not suitable for autonomous driving. If this problem happens for normal driving case with sampling interval 1.0m this bug is high priority, if not I think we can set this PR low priority. what do you think?

[shulanbushangshu]

@taikitanaka3 OK,we can set this PR low priority

[xmfcx]

@shulanbushangshu can you provide steps to reproduce this issue and show that your solution fixes it?

@Sharrrrk will discuss this PR internally.

[takayuki5168]

@shulanbushangshu @xmfcx @Sharrrrk cc @mitsudome-r Sorry to be late. Your change can solve the issue, but I guess there may be a better code. Let me implement it, and I'll let you know in a few days.

[takayuki5168]

@shulanbushangshu @taikitanaka3 I created another PR to make commit history clear. Could you review this. https://github.com/autowarefoundation/autoware.universe/pull/1616

[takayuki5168]

@shulanbushangshu @xmfcx @Sharrrrk We can close this PR since I merged another PR for the issue. Let me know if there is another bug. https://github.com/autowarefoundation/autoware.universe/pull/1616

[shulanbushangshu]

@takayuki5168 Yes,I have simulated the new code and it works well.I will close this PR.