path planning error

[BBRAVEV]

I have completed building the map. When planning the path, if the target is close, the path can be planned normally. If it is far, an off-track straight line will appear (directly across the map), but when there is no problem running the simulator.

[maxime-clem]

Are you able to share your lanelet map ?
This way we can try to reproduce the issue and identify if it is caused by a bug or by the map itself.

[liuXinGangChina]

hi， @BBRAVEV

gotcha， the engineer who is in charge of planning module is watching on this now， get back to you soon

Happy hacking！

Xingang

[BBRAVEV]

@liuXinGangChina OK. Thanks!

[MFZ007bin]

@liuXinGangChina 您好，我在使用autoware.universe调试小车时遇到了问题，首先是由于地图以及车辆太小，在规划轨迹时会出现横穿矢量地图的情况，我通过调整将refine_goal_search_radius_range参数调小解决了该问题，后来是无法定位，通过将stop_check_enabled参数设置为false解决，现在在rviz中设置目标点后能够显示planning模块的轨迹，但状态一直在planning。请问该如何解决？或者您能否留下一个邮箱以便更好的沟通？

[liuXinGangChina]

@liuXinGangChina 您好，我在使用autoware.universe调试小车时遇到了问题，首先是由于地图以及车辆太小，在规划轨迹时会出现横穿矢量地图的情况，我通过调整将refine_goal_search_radius_range参数调小解决了该问题，后来是无法定位，通过将stop_check_enabled参数设置为false解决，现在在rviz中设置目标点后能够显示planning模块的轨迹，但状态一直在planning。请问该如何解决？或者您能否留下一个邮箱以便更好的沟通？

sure my mail is [email protected]， feel free to reach me

心刚

[MFZ007bin]

@liuXinGangChina 您好 我已经在邮箱中描述了问题，麻烦您有时间解答一下。

[shulanbushangshu]

I test the map in the latest code by simulation.There are some anomalies in the generated feasible areas, I don't know if they are related to the map.Did the software fail to generate path during your real-world car tests。@BBRAVEV

[BBRAVEV]

Hello, when I test, If the distance is close, you can plan it normally, but if it's far, you can't; however, if the map is not connected from end to end, even long distances can work.

[shulanbushangshu]

First, the software does not support circular planning (starting and ending in the same lane). In addition to this case, I also repeated in the simulation that some set end points could not be successfully planned