obstacle_avoidance_planner sometimes crash when the vehicle goes beyond goal point

[VRichardJP]

Checklist

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

Description

Several times today, the obstacle_avoidance_planner crashed in my vehicle. With GDB, I identified that full_traj_points trajectory below is sometimes empty:

autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp

Line 1355 in e2c5eda

const auto fine_traj_points = generateFineTrajectoryPoints(path_points, full_traj_points);

I modified the code like so, and the node stopped crashing:

  const auto full_traj_points =
    points_utils::concatTrajectory(optimized_traj_points, extended_traj_points);

  if (full_traj_points.empty()) {
    trajectory_points = points_utils::convertToTrajectoryPoints(path_points);
    return trajectory_points;
  }

  // NOTE: fine_traj_points has no velocity information
  const auto fine_traj_points = generateFineTrajectoryPoints(path_points, full_traj_points);

(however I have no idea if it is the correct way to handle that.)

Expected behavior

No crash

Actual behavior

Crash

Steps to reproduce

Seems to happen when the vehicle goes beyond goal point (in manual driving)

Versions

No response

Possible causes

No response

Additional context

No response

[takayuki5168]

@VRichardJP Thank you so much for your bug report and suggestion for bug fix.
I agree with your suggestion. Could you make a PR?

[VRichardJP]

I would be happy to contribute. But is this workaround the good way to handle that situation?

For example a special case for empty trajectories could be added to generateFineTrajectoryPoints() instead. And by extension, to all planner functions that could crash on an empty path.

[takayuki5168]

@VRichardJP Hmm, I'm not 100% sure, but calculate-and-validate implementation as follows looks better to me.

 const auto full_traj_points =
    points_utils::concatTrajectory(optimized_traj_points, extended_traj_points);

  if (full_traj_points.empty()) {
    trajectory_points = points_utils::convertToTrajectoryPoints(path_points);
    return trajectory_points;
  }

[VRichardJP]

as reported in #1956 there are many other cases in which this line will crash: nan values, inf (just some weird path?). I am not sure what is exactly to be tested here.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[xmfcx]

@VRichardJP could you create a PR for this with your changes? So we can try to address your problems there.

[VRichardJP]

The vehicle I had the problem with has been updated with a newer version of the code since then. Even though I did not keep my change after the update, I have never faced the problem again. So I guess it has been fixed somehow?