`behavior_planning_container`dies while turning to the right.

[Kim-mins]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

Hi team,

I'm currently running Autoware with Carla, and I found a situation that the behavior_planning_container dies while turning to the right, and the ego vehicle cannot drive after all.

Here are the videos of the situation: [rviz] [frontview]

At 0:30 of the rviz video, the planned trajectory is not updated anymore and the vehicle eventually stops, not reaching the destination.

I also checked the launch.log file, and I found a log that saids behavior_planning_container died:

1711198611.2581947 [ERROR] [component_container_mt-68]: process has died [pid 2463, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=True -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7'].

Expected behavior

I wanted the ego vehicle to drive to the destination with no error.

Actual behavior

But the ego vehicle could not reach to the goal, due to the module error.

Steps to reproduce

Here's the ros2bag file for the reproduction: [ros2bag]

Versions

• Autoware: 20240115, prebuilt docker
• Carla: 0.9.13
• OS (host): Ubuntu 20.04
• OS (docker): Ubuntu 22.04

Possible causes

No response

Additional context

I wanted to investigate more to find the cause of this error and I tried this answer, but failed. If anyone tells me the way to use gdb, I think I can investigate more.