Vehicle get stuck because vehicle command gate does not want to send steering command while "paused" #6044
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component:control
Vehicle control algorithms and mechanisms. (auto-assigned)
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Description
I have this problem with freespace planning where Autoware often refuse to restart after it has been stopped halfway in a curve:
I observe the trajectory follower node complains the steering is not converged so it requires the vehicle to remain stopped. Yet, it outputs the correct steering target in the control command message:
Current steering when stuck (
/vehicle/status/steering_status
):Trajectory follower node command (
/control/trajectory_follower/control_cmd
):Right after the trajectory follower node, there is the vehicle command gate. And I see the control command keeps the current steering instead of forwarding the trajectory controller node command:
/control/command/control_cmd
:By adding a couple printf, I found that the vehicle command is changed to a stop because the
AdapiPauseInterface
"is paused". Here:autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp
Lines 436 to 440 in 142bc49
I am not sure what it means, or how to leave this state. Is it paused because the vehicle is stopped? But then, the vehicle is stopped because the steering is not converged, and the steering is not moved because the vehicle is stopped?
Any idea ?
Expected behavior
Autoware doesn't get stuck
Actual behavior
Gets stuck on steering not converged
Steps to reproduce
Difficult. The problem occurs only with my custom freespace planner algorithm
Versions
No response
Possible causes
No response
Additional context
No response
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