Incorrect Detection of Roadside Trees as Obstacles on the Road (Autoware.universe+Carla 0.9.14 co-simulation)

[sgNicola]

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

Where trees located beside roads are incorrectly considered as obstacles on the road. It disrupts normal vehicle operations by causing unnecessary avoidance maneuvers or stops.

Expected behavior

The vehicle should go ahead.

Actual behavior

The vehicle stops and does not proceed upon approaching a tree, mistaking it for an obstacle on the road.

Steps to reproduce

1. Launch Autoware.Universe.
2. Drive the vehicle towards areas around the tree
3. Observe that the vehicle stops, treating it as an obstacle on the road.

Versions

-OS: Ubuntu 20.04
-ROS2: ros2 galactic
-Autoware: Autoware.universe galactic

Possible causes

This behavior likely originates from the Surround Obstacle Checker module, which subscribes to the /perception/obstacle_segmentation/pointcloud topic. Furthermore, the absence of detected objects in the /perception/object_recognition/objects topic output may exacerbate the issue, indicating potential malfunctions in the perception module.

Additional context

This may have the same root cause as #6936.

[sgNicola]

Hi, I would like to upload the ros2bag for steps to reproduce, however, it doesn't support db3 file type.