Mission planner: route planning issue

[tseco15]

Hi,
We are working with a real vehicle with a lanelet map consisting of only two segments with ids 1630 and 1213 as you can see in the following image:

When we send a goal from the initial position to goal 1, the mission planner provides the route, the planner works properly and the vehicle reaches the goal:

However, when the goal is goal 2, the mission planner does not provide a right route, the lanelet segment corresponding to 1213 is missing and the vehicle never moves (after pressing auto button). You can see the issue in the next image:

On the other hand, if we start in goal1, it provides the route up to any position inside id 1213, and if we start inside 1213, the planner works properly up to goal 2.

Is it possible that the mission planner tries to plan the shortest route from initial position to the goal 2 in the other direction, and as the direction of the lanelet is counterclockwise, it fails?

Any suggestions would be very helpful.
Thanks in advance,

[kosuke55]

@tseco15
Hi,
Currently, autoware planner does not support the goal behind ego in the same lane.
You need to divide 1630 into two lanes to plan using the same position goal and ego.

[kosuke55]

autowarefoundation/autoware.universe#2354
this issue is same topics, please also refer it.

[tseco15]

Thank you very much for your answer!

[bo-pang]

In order to conduct an automatic running circle experiment, you can write a Python script yourself and insert it. This is not a very complicated task, and I have already written the file. If you need it, you can message me privately

[maxime-clem]

An issue is already open for this problem: autowarefoundation/autoware.universe#2354