Question about Requested the service /api/routing/set_route_points 1 times, but was not successful.

[lethal233]

Hi, I have a question about the test simulation runner.

Symptom

1. Ego car did not move
2. Task failed
3. Result log:

<?xml version="1.0"?>
<testsuites name="/home/autoware/autoware.proj/data/log/scenario_test_runner" failures="0" errors="1" tests="1">
  <testsuite name="scenario" failures="0" errors="1" tests="1">
    <testcase name="scenario">
      <error type="InternalError" message="Requested the service &quot;/api/routing/set_route_points&quot; 1 times, but was not successful." />
    </testcase>
  </testsuite>
</testsuites>

4. runtime log:

....
[openscenario_interpreter_node-3] [service_log_checker-3] [ERROR] [1714625346.260283470] [system.service_log_checker]: /planning/mission_planning/route_selector/main/set_waypoint_route: status code 3 'The planned route is empty.' (/default_ad_api/node/routing)
[openscenario_interpreter_node-3] [service_log_checker-3] [ERROR] [1714625346.260444140] [system.service_log_checker]: /api/routing/set_route_points: status code 3 'The planned route is empty.' (/default_ad_api/node/routing)
....

Description

Let ego car start from lane=1891 and end at lane=4136, no other configuration.

We can see that the ego car and the ego destination are marked on the map.

I use lanelet2 extension python to check if lane=4136 is reachable from lane=1891. See sample code below: (I take some of the code snippets from my own class)

import xml.etree.ElementTree as et

import lanelet2 as ll2
from lanelet2.core import LaneletMap, Lanelet
from lanelet2.io import Origin, load
from lanelet2.routing import RoutingGraph, LaneletPath
from lanelet2 import traffic_rules

from lanelet2_extension_python.projection import MGRSProjector
import lanelet2_extension_python.utility.query as query
import lanelet2_extension_python.utility.utilities as utilities


def get_first_reference_origin(hd_map_path: str) -> Origin:
    with open(hd_map_path, 'r') as file:
        xml_data = file.read()

    root = et.fromstring(xml_data)
    first_node = root.find('.//node')

    lat = float(first_node.get('lat'))
    lon = float(first_node.get('lon'))
    return Origin(lat, lon, 0)


def load_map() -> LaneletMap:
    lanelet_map = load(str(hd_map_path), projector)
    return lanelet_map


def get_vehicle_shortest_path_src_tgt(start_lane_id: int, end_lane_id: int, with_lane_change=True) -> \
        Optional[LaneletPath]:
    return rg_veh.shortestPath(get_lane_by_id(start_lane_id),
                               get_lane_by_id(end_lane_id), withLaneChanges=with_lane_change)


def get_lane_by_id(lane_id: int) -> Lanelet:
    return ll2_map.laneletLayer[lane_id]


if __name__ == '__main__':
    hd_map_path = ""
    origin = get_first_reference_origin(str(hd_map_path))
    projector = MGRSProjector(origin)
    ll2_map = load_map()

    tr_veh = lanelet2.traffic_rules.create(ll2.traffic_rules.Locations.Germany,
                                           ll2.traffic_rules.Participants.Vehicle)
    rg_veh = RoutingGraph(ll2_map, tr_veh)
    print(*get_vehicle_shortest_path_src_tgt(1891, 4136, True))

and the output is:

It shows that lane=4136 is reachable from lane=1891. The path is 1891 -> 9693 -> 4136, which is same as Autoware Scenario Editor:

Environment

Autoware Simulator & Scenario Editor

Attachment

Map + scenario file + simulator result.xml + simulation log

The map I used for this scenario is in Autoware Evaluator, not created by myself.
YTU Davutpasa campus.zip

[kosuke55]

@lethal233
thanks for the issue.
The footprint of egoDesitination seems to exceed lane. This check is enabled by this option of mission_planner https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml#L12

[openscenario_interpreter_node-3] [component_container_mt-25] [WARN] [1714625346.259696834] [planning.mission_planning.mission_planner]: Goal's footprint exceeds lane!
[openscenario_interpreter_node-3] [component_container_mt-25] [WARN] [1714625346.259764133] [planning.mission_planning.mission_planner]: Goal is not valid! Please check position and angle of goal_pose

If you use the parameter as it is, could you adjust the position of destination?

[lethal233]

Understood. I just tried to reduce the s value along this lane to ensure the whole ego car is in the lane when it reaches the destination. It works now. Thanks for your reply! @kosuke55