Parking planner dies with "cannot handle this many halfplanes"
Description
On Foxy (have not tried the planner in Dashing recently), the parking planner dies when parking out of certain parking spots.
How to Reproduce
Try unparking from a parking spot near the spawn point. Example video: https://drive.google.com/file/d/1e9FRJmGQM09YvCzDahFWC4pTw-BENdXS/view?usp=sharing
Current Behavior
[parking_planner_node_exe-10] terminate called after throwing an instance of 'std::domain_error'
[parking_planner_node_exe-10] what(): Cannot handle this many halfplanes
[ERROR] [parking_planner_node_exe-10]: process has died [pid 19449, exit code -6, cmd '/home/nikolai.morin/AutowareAuto/install/parking_planner_nodes/lib/parking_planner_nodes/parking_planner_node_exe --ros-args -r __node:=parking_planner_node -r __node:=parking_planner_node -r __ns:=/planning --params-file /home/nikolai.morin/AutowareAuto/install/autoware_demos/share/autoware_demos/param/parking_planner.param.yaml -r HAD_Map_Service:=/had_maps/HAD_Map_Service'].
Expected behavior
No node dies.
Edited by Nikolai Morin