How-to-add-bidirectional-driving-lanes-in-autoware-universe

[raminterpl]

we are trying to create a map which has lanelets that allow direction of travel of robot in both sides.
we saw that from AutonomouStuff parking lot map that it has additional lanelet relations with roles reversed (left->right, right->left) with the same ways. we tried to replicate the same procedure for my map but it doesn't work in Autoware Universe, although it works in Autoware.Auto (with errors).

Edit: The problem seems to be where drivable area is estimated, it gets stuck in a loop of finding right most linestring and leftmost linestring

[TakaHoribe]

@raminterpl Could you try making two lanelets with different directions in the same place. Not adding a bi-directional relation, but adding another lanelet that has a different direction. I'm not sure this will work but I did this way before. （Edit: I misunderstood. Maybe you've already tried this. We could make a bi-directional driving in your way, so let me take a look at your map.)

Btw, can you share the lanelet map?
If the problem is only in the drivable area thing, it could be a bug. I'd like to look into it.