Stop Line Module Parameter Bug

[ibrahimsel]

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

While trying out the behavior planning parameters using the Autoware Planning Simulation, in the stop_line_module's stop_line_param.yaml file, if the parameter show_stop_line_collision_check is set to true, the module crashes and the planning module stops working until restart. The related log is below:

[rviz2-46] [INFO 1712563579.636643487] [rviz2]: Setting goal pose: Frame:map, Position(75883.7, 58772.6, 0), Orientation(0, 0, 0.203449, 0.979086) = Angle: 0.409758 (operator()() at 62)
[component_container_mt-35] terminate called after throwing an instance of 'std::out_of_range'
[component_container_mt-35]   what():  vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)
[component_container_mt-35] *** Aborted at 1712563579 (unix time) try "date -d @1712563579" if you are using GNU date ***
[component_container_mt-35] PC: @                0x0 (unknown)
[component_container_mt-35] *** SIGABRT (@0x3e80001000f) received by PID 65551 (TID 0x7f4b29c2ff40) from PID 65551; stack trace: ***
[component_container_mt-35]     @     0x7f4af737a046 (unknown)
[component_container_mt-35]     @     0x7f4b29a42520 (unknown)
[component_container_mt-39] [INFO 1712563579.976537206] [control.trajectory_follower.lane_departure_checker_node]: waiting for reference_trajectory msg... (isDataReady() at 251)
[component_container_mt-35]     @     0x7f4b29a969fc pthread_kill
[component_container_mt-35]     @     0x7f4b29a42476 raise
[component_container_mt-35]     @     0x7f4b29a287f3 abort
[component_container_mt-35]     @     0x7f4b29ea2b9e (unknown)
[component_container_mt-35]     @     0x7f4b29eae20c (unknown)
[component_container_mt-35]     @     0x7f4b29eae277 std::terminate()
[component_container_mt-35]     @     0x7f4b29eae4d8 __cxa_throw
[component_container_mt-35]     @     0x7f4b29ea54cd (unknown)
[component_container_mt-35]     @     0x7f4af73ccca8 behavior_velocity_planner::(anonymous namespace)::createStopLineCollisionCheck()
[component_container_mt-35]     @     0x7f4af73ccd8f behavior_velocity_planner::StopLineModule::createDebugMarkerArray()
[component_container_mt-35]     @     0x7f4b04261159 behavior_velocity_planner::SceneModuleManagerInterface::modifyPathVelocity()
[component_container_mt-35]     @     0x7f4af7f68ade behavior_velocity_planner::BehaviorVelocityPlannerManager::planPathVelocity()
[component_container_mt-35]     @     0x7f4af7e82e5e behavior_velocity_planner::BehaviorVelocityPlannerNode::generatePath()
[component_container_mt-35]     @     0x7f4af7e834bb behavior_velocity_planner::BehaviorVelocityPlannerNode::onTrigger()
[component_container_mt-35]     @     0x7f4af7ece067 std::_Function_handler<>::_M_invoke()
[component_container_mt-35]     @     0x7f4af7eca722 _ZNSt8__detail9__variant17__gen_vtable_implINS0_12_Multi_arrayIPFNS0_21__deduce_visit_resultIvEEOZN6rclcpp23AnySubscriptionCallbackIN27autoware_auto_planning_msgs3msg15PathWithLaneId_ISaIvEEESA_E8dispatchESt10shared_ptrISB_ERKNS5_11MessageInfoEEUlOT_E_RSt7variantIJSt8functionIFvRKSB_EESN_IFvSP_SH_EESN_IFvRKNS5_17SerializedMessageEEESN_IFvSW_SH_EESN_IFvSt10unique_ptrISB_St14default_deleteISB_EEEESN_IFvS14_SH_EESN_IFvS11_ISU_S12_ISU_EEEESN_IFvS1A_SH_EESN_IFvSD_ISO_EEESN_IFvS1F_SH_EESN_IFvSD_ISV_EEESN_IFvS1K_SH_EESN_IFvRKS1F_EESN_IFvS1Q_SH_EESN_IFvRKS1K_EESN_IFvS1W_SH_EESN_IFvSE_EESN_IFvSE_SH_EESN_IFvSD_ISU_EEESN_IFvS25_SH_EEEEEJEEESt16integer_sequenceImJLm8EEEE14__visit_invokeESL_S2B_
[component_container_mt-35]     @     0x7f4af7f51575 rclcpp::Subscription<>::handle_message()
[component_container_mt-35]     @     0x7f4b2a2667bc rclcpp::Executor::execute_subscription()
[component_container_mt-35]     @     0x7f4b2a266fbf rclcpp::Executor::execute_any_executable()
[component_container_mt-35]     @     0x7f4b2a26e27a rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-35]     @     0x7f4b2a26e6b5 rclcpp::executors::MultiThreadedExecutor::spin()
[component_container_mt-35]     @     0x555d69596659 (unknown)
[component_container_mt-35]     @     0x7f4b29a29d90 (unknown)
[component_container_mt-35]     @     0x7f4b29a29e40 __libc_start_main
[component_container_mt-35]     @     0x555d69596995 (unknown)
[component_container_mt-35]     @                0x0 (unknown)
[ERROR] [component_container_mt-35]: process has died [pid 65551, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=False -p wheel_radius:=0.2 -p wheel_width:=0.09 -p wheel_base:=0.88 -p wheel_tread:=0.88 -p front_overhang:=0.8 -p rear_overhang:=0.7 -p left_overhang:=0.5 -p right_overhang:=0.5 -p vehicle_height:=1.5 -p max_steer_angle:=1.57'].

Expected behavior

• A gentle warning about why it can't show the user the stop line collision check

Actual behavior

• Planning sim crashes and restart is required

Steps to reproduce

1. Under /config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml, set show_stop_line_collision_check to true
2. Run planning sim with a lanelet which includes a stop line
3. Give a pose estimate for the vehicle in front of the stop line
4. Give a goal pose behind the stop line
   

Versions

• OS: Ubuntu 22.04
• ROS2: Humble
• Autoware: release/2024.03

Possible causes

No response

Additional context

ROS2 related part of my .bashrc:

# ROS2, colcon, DDS
source /opt/ros/humble/setup.bash
export ROS_DOMAIN_ID=58
export RCUTILS_COLORIZED_OUTPUT=1  # By default, ROS 2 logger doesn't colorize the output
export RCUTILS_CONSOLE_OUTPUT_FORMAT="[{severity} {time}] [{name}]: {message} ({function_name}() at {line_number})" # By default, ROS 2 logger doesn't output detailed information such as file name, function name, or line number

export CYCLONEDDS_URI=file:///~/cyclonedds_config.xml
if [ ! -e /tmp/cycloneDDS_configured ]; then
    sudo sysctl -w net.core.rmem_max=2147483647
    sudo ip link set lo multicast on
    touch /tmp/cycloneDDS_configured
fi
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp