Freespace planning not working when too close to lanelet going in the opposite direction

[hdossaji94]

Ive been exploring the freespace planning when the vector map general area has been configured as "parking_lot" type. That way it freespace plans in the entire area. The path generation is great, when its going from parking_lot->parking_lot, parking_lot->lanelet, lanelet->parking_lot.... however whenever I try to do parking_lot->parking_lot right next to the lanelet (but not inside of the lanelet), the path gets generated but there is 0 velocity. The vehicle does not move unless I set the pose a few meters away.

This pic shows working (nonzero velocity) freespace planning inside the general parking lot area, parking_lot->parking_lot:

This pic shows working (nonzero velocity) freespace planning from inside the lanelet to the general parking lot area: lanelet->parking_lot:

This pic shows working(nonzero velocity) freespace planning from inside the general parking_lot area to inside the lanelet, parking_lot->lanelet:

This pic shows working (nonzero velocity) freespace planning inside the general parking lot area but next to the lanelet in the direction of travel (downwards): parking_lot->parking_lot

However this pic shows nonworking (zero velocty) freespace planning from inside the general parking_lot area right next to the lanelet
in the opposite direction of travel (upwards) and it does not work. I understand its because of the proximity to the lanelet in the opposite direction but how do I turn that off so that it can travel up in the parking_lot area next to the lanlet:

Thank you

[kosuke55]

@hdossaji94
Thanks for the report! Sorry, but I have no idea.

When I see where the path is planned in your pic, the PARKING scenario seems to be working(you can check byros2 topic echo /planning/scenario_planning/scenario ), and the feespace_planner_node does not see lanelets, so it is strange that the behavior changes depending on the relationship with the lane.
If the LANEDRIVING scenario is misbehaving, I would suggest rewriting the following to try running PARKING only.
https://github.com/autowarefoundation/autoware.universe/blob/main/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp#L179

If it is only a velocity issue, I think it would be good to see if it is 0 generated in freespace planner node output, or if it is 0 in the motion planner at the latter modules. By the way, is the velocity 0 only in the vicinity of ego?

[maxime-clem]

@hdossaji94 I am marking this as answered but feel free to unmark it if needed.

[kosuke55]

If the LANEDRIVING scenario is misbehaving, I would suggest rewriting the following to try running PARKING only.
https://github.com/autowarefoundation/autoware.universe/blob/main/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp#L179

I meant like

void ScenarioSelectorNode::updateCurrentScenario()
{
  current_scenario_ = tier4_planning_msgs::msg::Scenario::PARKING;
}