wheel_base is not initialized for AnalyticalJerkConstrainedSmoother in BehaviorVelocityPlannerNode

[LIIHWF]

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

According to the code in autoware.universe/planning/behavior_velocity_planner/node.cpp, an AnalyticalJerkConstrainedSmoother is created by calling onParam() in the constructor of the node.

However, nowhere is calling setWheelBase, leading the base_param_.wheel_base in the smoother to be uninitialized.

base_param_.wheel_base is accessed in applySteeringRateLimit method. The smoother in BehaviorVelocityPlanner can reach this method when executing behavior_velocity_intersection_module and calling checkCollision method in scene_intersection.cpp. The call chain is checkCollision -> util::calcIntersectionPassingTime -> smoothPath -> applySteeringRateLimit.

This should be a BUG and can be corrected by initializing wheel_base somewhere.

Expected behavior

base_param_.wheel_base is initialized after AnalyticalJerkConstrainedSmoother being constructed in autoware.universe/planning/behavior_velocity_planner/node.cpp (onParam)

Actual behavior

AnalyticalJerkConstrainedSmoother is constructed without any initialization in autoware.universe/planning/behavior_velocity_planner/node.cpp (onParam)

Steps to reproduce

Check the call chain checkCollision -> util::calcIntersectionPassingTime -> smoothPath -> applySteeringRateLimit by seeing the sources:

• autoware.universe/planning/behavior_velocity_planner/node.cpp (AnalyticalJerkConstrainedSmoother is created in onParam())
• autoware.universe/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp (defines checkCollision called by modifyPathVelocityDetail <- modifyPathVelocity)
• autoware.universe/planning/behavior_velocity_intersection_module/src/util.cpp (defines util::calcIntersectionPassingTime)
• autoware.universe/planning/motion_velocity_smoother/src/smoother/smoother_base.cpp (defines applySteeringRateLimit)

Versions

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Possible causes

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Additional context

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[soblin]

Thanks a lot, I will take a look at it

[soblin]

#7078

[soblin]

The PR will be merged soon, thank you !