Emergency stop when the car approach the destination or route too short

[angus25]

When I turn on the autopilot mode and approach the destination, the car will enter emergency mode and the following error will occur. After the error, I can no longer press the AUTO button to autopilot.
hardware:agx orin (32G)
Versions
-OS: Ubuntu 22.04
-ROS2: Humble
-Autoware:0.43.1

[obstacle_pointcloud_based_validator_node-66] [WARN] [1744974854.518751476] [perception.object_recognition.detection.obstacle_pointcloud_based_validator_node]: obstacle pointcloud is empty! Can not validate objects.
[component_container_mt-1] [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud!
[obstacle_pointcloud_based_validator_node-66] [WARN] [1744974854.631261497] [perception.object_recognition.detection.obstacle_pointcloud_based_validator_node]: obstacle pointcloud is empty! Can not validate objects.
[component_container_mt-1] [WARN] [1744974855.965758382] [sensing.lidar.concatenate_data]: Reset the oldest collector because the number of processing collectors is equal to the limit of (3).
[autoware_topic_state_monitor_node-15] [INFO] [1744974856.680485597] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[component_container-33] [WARN] [1744974858.263794297] [sensing.lidar.top.velodyne_ros_wrapper_node.VelodyneDecoder]: Missed pointcloud output deadline
[autoware_topic_state_monitor_node-15] [INFO] [1744974859.780433920] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[autoware_topic_state_monitor_node-15] [INFO] [1744974862.780457735] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[autoware_topic_state_monitor_node-15] [INFO] [1744974865.783607728] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[autoware_gyro_odometer_node-56] [ERROR] [1744974867.122643869] [localization.twist_estimator.gyro_odometer]: Imu msg is timeout. imu_dt: 0.201860307[sec], tolerance 0.2[sec]
[autoware_gyro_odometer_node-56] [ERROR] [1744974867.178995573] [localization.twist_estimator.gyro_odometer]: Vehicle twist msg is timeout. vehicle_twist_dt: 0.21679707[sec], tolerance 0.2[sec]
[autoware_topic_state_monitor_node-15] [INFO] [1744974868.880488437] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[component_container-33] [WARN] [1744974870.475953952] [sensing.lidar.top.velodyne_ros_wrapper_node.VelodyneDecoder]: Missed pointcloud output deadline
[component_container_mt-1] [WARN] [1744974870.552564412] [sensing.lidar.concatenate_data]: Topic '/sensing/lidar/top/pointcloud_before_sync' already exists in the collector. Check the timestamp of the pointcloud.
[autoware_topic_state_monitor_node-15] [INFO] [1744974871.884435279] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[autoware_mrm_handler_node-29] [INFO] [1744974871.901183929] [system.mrm_handler]: MRM State changed: NORMAL -> MRM_OPERATING
[autoware_mrm_handler_node-29] [WARN] [1744974871.901412519] [system.mrm_handler]: MRM behavior is None. Do nothing.
[autoware_mrm_handler_node-29] [WARN] [1744974871.902112403] [system.mrm_handler]: EMERGENCY_STOP is operated.
[component_container_mt-95] [WARN] [1744974871.908802000] [control.vehicle_cmd_gate]: Emergency!
[component_container_mt-95] [INFO] [1744974871.945064463] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[autoware_mrm_handler_node-29] [INFO] [1744974872.001079411] [system.mrm_handler]: MRM State changed: MRM_OPERATING -> NORMAL
[autoware_mrm_handler_node-29] [WARN] [1744974872.001866404] [system.mrm_handler]: EMERGENCY_STOP is canceled.
[autoware_topic_state_monitor_node-15] [INFO] [1744974874.980489729] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[autoware_topic_state_monitor_node-15] [INFO] [1744974878.082025862] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[autoware_topic_state_monitor_node-15] [INFO] [1744974881.082400867] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[component_container_mt-90] terminate called after throwing an instance of 'std::out_of_range'
[component_container_mt-90] what(): vector::_M_range_check: __n (which is 1) >= this->size() (which is 1)
[component_container_mt-90] *** Aborted at 1744974882 (unix time) try "date -d @1744974882" if you are using GNU date ***
[component_container_mt-90] PC: @ 0x0 (unknown)
[component_container_mt-90] *** SIGABRT (@0x3e8000025c3) received by PID 9667 (TID 0xffff5fffe8e0) from PID 9667; stack trace: ***
[component_container_mt-90] @ 0xffff7eb6d9b0 google::(anonymous namespace)::FailureSignalHandler()
[component_container_mt-90] @ 0xffff828827bc ([vdso]+0x7bb)
[component_container_mt-90] @ 0xffff8221f1f0 (unknown)
[component_container_mt-90] @ 0xffff821da67c raise
[component_container_mt-90] @ 0xffff821c7130 abort
[component_container_mt-90] @ 0xffff824262dc __gnu_cxx::__verbose_terminate_handler()
[component_container_mt-90] @ 0xffff82422abc (unknown)
[component_container_mt-90] @ 0xffff82422b20 std::terminate()
[component_container_mt-90] @ 0xffff82422e04 __cxa_throw
[component_container_mt-90] @ 0xffff824507f0 std::__throw_out_of_range_fmt()
[component_container_mt-90] @ 0xffff5c717350 autoware::path_optimizer::(anonymous namespace)::getStartPoint()
[component_container_mt-90] @ 0xffff5c7173ac autoware::path_optimizer::(anonymous namespace)::isFrontDrivableArea()
[component_container_mt-90] @ 0xffff5c717f6c autoware::path_optimizer::geometry_utils::isOutsideDrivableAreaFromRectangleFootprint()
[component_container_mt-90] @ 0xffff5c69ea00 autoware::path_optimizer::PathOptimizer::insertZeroVelocityOutsideDrivableArea()
[component_container_mt-90] @ 0xffff5c69ecf4 autoware::path_optimizer::PathOptimizer::generateOptimizedTrajectory()
[component_container_mt-90] @ 0xffff5c69f5fc autoware::path_optimizer::PathOptimizer::onPath()
[component_container_mt-90] @ 0xffff5c6bc248 std::_Function_handler<>::_M_invoke()
[component_container_mt-90] @ 0xffff7c5a2cfc ZNSt8__detail9__variant17__gen_vtable_implINS0_12_Multi_arrayIPFNS0_21__deduce_visit_resultIvEEOZN6rclcpp23AnySubscriptionCallbackIN22autoware_planning_msgs3msg5Path_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-90] @ 0xffff5c6e76f8 rclcpp::Subscription<>::handle_message()
[component_container_mt-90] @ 0xffff826d8d5c rclcpp::Executor::execute_subscription()
[component_container_mt-90] @ 0xffff826d9568 rclcpp::Executor::execute_any_executable()
[component_container_mt-90] @ 0xffff826e0f4c rclcpp::executors::MultiThreadedExecutor::run()
[component_container_mt-90] @ 0xffff824531fc (unknown)
[component_container_mt-90] @ 0xffff8221d5b8 (unknown)
[component_container_mt-90] @ 0xffff82285edc (unknown)
[autoware_topic_state_monitor_node-17] [WARN] [1744974883.486751404] [system.topic_state_monitor_scenario_planning_trajectory]: /planning/scenario_planning/trajectory topic is timeout. Set ERROR in diagnostics.
[autoware_mrm_handler_node-29] [INFO] [1744974883.601139281] [system.mrm_handler]: MRM State changed: NORMAL -> MRM_OPERATING
[autoware_mrm_handler_node-29] [WARN] [1744974883.601301322] [system.mrm_handler]: MRM behavior is None. Do nothing.
[autoware_mrm_handler_node-29] [WARN] [1744974883.601966826] [system.mrm_handler]: EMERGENCY_STOP is operated.
[component_container_mt-95] [WARN] [1744974883.613752861] [control.vehicle_cmd_gate]: Emergency!
[component_container_mt-95] [INFO] [1744974883.644750341] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[autoware_mrm_handler_node-29] [INFO] [1744974883.701205659] [system.mrm_handler]: MRM State changed: MRM_OPERATING -> MRM_SUCCEEDED
[component_container_mt-95] [INFO] [1744974883.759895847] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container-33] [WARN] [1744974883.797045100] [sensing.lidar.top.velodyne_ros_wrapper_node.VelodyneDecoder]: Missed pointcloud output deadline
[autoware_ekf_localizer_node-58] [WARN] [1744974883.799773419] [localization.pose_twist_fusion_filter.ekf_localizer]: EKF period may be too slow to finish pose smoothing!! (0.105393 sec)
[component_container_mt-95] [INFO] [1744974883.847055346] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-95] [INFO] [1744974883.944720429] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-1] [WARN] [1744974883.966383822] [sensing.lidar.concatenate_data]: Reset the oldest collector because the number of processing collectors is equal to the limit of (3).
[component_container_mt-95] [INFO] [1744974884.048832408] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-1] [WARN] [1744974884.050000384] [sensing.lidar.concatenate_data]: Topic '/sensing/lidar/top/pointcloud_before_sync' already exists in the collector. Check the timestamp of the pointcloud.
[component_container_mt-95] [INFO] [1744974884.146401847] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[autoware_topic_state_monitor_node-15] [INFO] [1744974884.181021780] [system.topic_state_monitor_traffic_light_recognition_traffic_signals]: /perception/traffic_light_recognition/traffic_signals has not received. Set ERROR in diagnostics.
[ERROR] [component_container_mt-90]: process has died [pid 9667, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=motion_planning_container -r __ns:=/planning/scenario_planning/lane_driving/motion_planning -p use_sim_time:=False -p wheel_radius:=0.17 -p wheel_width:=0.12 -p wheel_base:=1.015 -p wheel_tread:=0.57 -p front_overhang:=0.235 -p rear_overhang:=0.26 -p left_overhang:=0.0725 -p right_overhang:=0.0725 -p vehicle_height:=1.328 -p max_steer_angle:=0.7505'].
[component_container_mt-95] [INFO] [1744974884.244677621] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-95] [INFO] [1744974884.353899822] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-95] [INFO] [1744974884.444313632] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-95] [INFO] [1744974884.544340587] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-95] [WARN] [1744974884.618435776] [control.vehicle_cmd_gate]: Emergency!
[component_container_mt-95] [INFO] [1744974884.644552462] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet:
[component_container_mt-95] [INFO] [1744974884.744975879] [control.vehicle_cmd_gate]: The operation mode is changed, but the TurnIndicatorsCommand is not received yet: