Behavior Planning container crashes, state stuck at PLANNING

[MrOCW]

Hi, I pulled the latest commit and i am facing an issue where the state is stuck at planning when a goal is sent. The mission_planner ad_api commit might have caused this? No route appears
Here is the bag:
https://drive.google.com/file/d/1phA3hrapDIXBDkQHyj0FPV45SZs03wbp/view?usp=sharing

It seems that mission_planner's required input /planning/scenario_planning/modified_goal (which was changed from rviz's /planning/mission_planning/goal) is not being published. In planning_simulator, it is being published by behavior_path_planner node

Launching planning.launch.xml on its own gives this error:
[motion_velocity_smoother-5] [ERROR] [1666928134.906931793] [planning.scenario_planning.motion_velocity_smoother]: Failed to get parameter 'wheel_radius', please set it when you launch the node. [motion_velocity_smoother-5] terminate called after throwing an instance of 'rclcpp::ParameterTypeException' [motion_velocity_smoother-5] what(): expected [double] got [not set]

The route appears, but state is still at PLANNING

Interestingly, looking at the logs from autoware.launch.xml:
"[ERROR] [component_container_mt-54]: process has died [pid 657, exit code -11, cmd '/opt/ros/galactic/install/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning --params-file /tmp/launch_params_b82au946' at line 2298
autoware.launch.xml.log

[maxime-clem]

I am not able to reproduce the issue with the latest version of Autoware.

If the state is stuck at PLANNING, it means the trajectory is not being sent to the controller. If one of the planner is crashing like you reported this is the expected behavior.

My guess is that there is an issue in your current workspace. Maybe you need to fully rebuild the code (rm install build -rf before building again), or maybe some of the repositories are outdated (rm src/* -rf && vcs import src < autoware.repos before rebuilding).

[maxime-clem]

I had not realized that the issue was happening on a real vehicle. I will investigate the issue.

Launching planning.launch.xml on its own gives this error: [...] Failed to get parameter 'wheel_radius' [...]

This is because the wheel_radius and other vehicle related parameters are loaded globally in the "root" launch file using the global_parameter_loader.
If you launch the planning.launch.xml on its own these parameters will be missing.

Interestingly, looking at the logs from autoware.launch.xml: [...]

From this log file we see that the behavior_planning_container crashes but I cannot see any obvious reason. I will try to reproduce the crash with your bag and then debug the issue.

[MrOCW]

i will rebuild everything and give it another go, will update again

[MrOCW]

@maxime-clem rebuilt and it works now strangely. apologies for wasting your time!