Automatic parking can be performed on planning_simulator, but when deploying the actual vehicle, it is stuck in the planning stage and cannot engage.

[wodone]

We drew the parking spaces on the osm map and verified the automatic parking function in planning_simulator. Everything was normal. But when we deploy this map to an actual vehicle, the automatic parking function cannot be performed. The path for automatic parking can be planned, but it cannot be engaged. The status is always stuck in the "planning" state and does not switch to the "wait for engage" state.

operating system：ubuntu20.04
ros: ros2 galactic

The picture below is a test screenshot on planning_simulator

The pictures below are test screenshots on actual vehicles.

[maxime-clem]

Thank you for reporting this issue. Can you confirm that you are able to engage your vehicle in other situations and that this issue only occurs for automated parking ?
To make it easier to identify the issue, please share the log file and/or a ROS bag recording. Please also specify which version of Autoware you are using.

[wodone]

Thank you very much for your reply and help! I can confirm that I am able to engage my vehicle in other situations and that this issue only occurs for automated parking. In situations other than automatic parking, autoware can engage normally. My Autoware version is galactic branch in github.
My Autoware version

ros2 log file
autoware_log.zip

[maxime-clem]

Thank you for sharing a log file. Unfortunately there is no obvious issue that can be identified from the log file.
There could be a bug with the galactic branch which prevents engaging a real vehicle when starting with the freespace planner.
Have you tried driving on a lane first and then changing the goal to the parking space ?

Next I will try to see if there this issue occurs with the current version of Autoware, or if it was already identified and fixed by previous updates.

[wodone]

Thank you very much for your reply! I have tried driving on a lane first and then changing the goal to the parking space. When I driving on a lane first and then changing the goal to the parking space, it can engage and work normal. At the same time, when I wanted to get out of the parking space, the problem arose. It seems that as long as the vehicle is in the "parking_lot" area(When drawing the osm map, the parking space must be within the "parking_lot" area), the planning problem will occur. Now, we try to upgrade autoware to the latest version to solve this problem.

[maxime-clem]

Sorry for the late reply. @wodone were you able to test a more recent version of Autoware to see if it fixes the issue ?

[maxime-clem]

@wodone I am marking this as answered but feel free to unmark it if you encounter the issue again.