behavior_path_planner can't plan a path with the first given goal command

[mehmetdogru]

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

Most of the time, behavior_path_planner sometimes can't plan a path with the first given goal command from rviz2. And the node gives this error:

[component_container_mt-13] [ERROR] [1649165181.816988526] [planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner]: behavior path output is empty! Stop publish.

And when the second time a goal command is given (even though exactly the same goal pose as the first one) behavior_path_planner is able to plan the path.

Expected behavior

behavior_path_planner should be able to calculate a path with the first goal pose given.

Actual behavior

Most of the time, behavior_path_planner sometimes can't plan a path with the first given goal command from rviz2

Steps to reproduce

1. Launch planning_simulator.launch.xml with any lanelet2 map and any .pcd file as it is described here.
2. Then set an initial pose for the ego vehicle.
3. Set a goal pose for the ego vehicle.
4. Repeat the 3rd step and observe if the path is created by behavior_path_planner.

Versions

• Autoware.universe commit hash: 70bc967

Possible causes

No response

Additional context

No response

[maxime-clem]

I am able to reproduce the issue but it is inconsistent and setting a goal sometimes works the first time.

Using git bisect I have identified the first bad commit as 982263a.

[maxime-clem]

This issue was fixed by c341d4c but I observed a new issue where behavior_planning crashes after setting a goal. This crash happened only once but prevented the trajectory generation, even after setting the goal another time.

[component_container_mt-13] Inconsistency detected by ld.so: ../elf/dl-tls.c: 481: _dl_allocate_tls_init: Assertion `listp->slotinfo[cnt].gen <= GL(dl_tls_generation)' failed!
[ERROR] [component_container_mt-13]: process has died [pid 9361, exit code 127, cmd '/opt/ros/galactic/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning --params-file /tmp/launch_params_bzfw7nao'].

EDIT: I cannot reproduce the crash and it might have been caused by an unclean build.