astar avoid: suddenly closest waypoint jumps
/label bug
Required information:
- Operating system and version:
- Ubuntu 18.04
- Autoware installation type:
- From source
- Autoware version or commit hash
- v1.13
- ROS distribution and version:
- Melodic
- ROS installation type:
- From binaries
- Package or library, if applicable:
- astar_avoid
Description of the bug
If you run the vehicle with insert_stop_line_wp
bug(#21 (closed)),
the astar_avoid
's closest waypoint may jump suddenly.
Steps to reproduce the bug
- Load Map ( map_data )
- Click
waypoint_loader
app. set waypoint file anduse_decision_maker
is true. And then, launchwaypoint_loader
. - Click
decision_maker
app. setsim_mode
is true andinsert_stop_line_wp
is also true. And then, launchdecision_maker
- Launch
lane_rule
,lane_stop
,lane_select
,astar_avoid
,velocity_set
,pure_pursuit
. - Click
twist_filter
app. Setuse_decision_maker
is true. And then, launchtwist_filter
. - Launch
wf_simulator
. - Click
vel_pose_connect
app. SetSimulation Mode
is true. ANd then, launchvel_pose_connect
. - Launch Rviz.
- Set Start pose using
2D Pose Estimate
. And Engage usingDecisionMakerPanel
. - See Rviz.
Expected behavior
Run along the route.
Actual behavior
Please watch this video
Suddenly, the closest waypoint jumps.
Additional information
When debugging this problem, it was found that the calculation method with getLocalClosestWaypoint
function of astar_avoid
was not good.
I think it's a pretty serious bug.
It will cause various problems besides this issue.