I have found a bug in line 352 in behavior_pah_planner_node.cpp

[zhmman]

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

Expected behavior

hi dear:
when i run planning simulation,the first set goal position, the autoware.universe can router set and run correctly. but when i set positioh secondly, which router set and run correctly again

Actual behavior

when i run planning simulation,the first set goal positon, the autoware.universe can router set and run correctly. but when i set positioh secondly, which can not router .

Steps to reproduce

run planning simulation ,set goal position push auto button. set goal position again.

Versions

No response

Possible causes

i have found in line 352 in behavior_pah_planner_node.cpp
change
if (!is_first_time && !has_same_route_id) {
to
if (!is_first_time && has_same_route_id) {

Additional context

No response

[kosuke55]

thank you for your report and suggestion.
we can change route with second goal when ego vehicle stops.

run planning simulation ,set goal position push auto button. set goal position again.

you tried to put the second goal while the vehicle is driving? It is not allowed.

[service_log_checker_node-5] [ERROR 1736149893.931478769] [system.service_log_checker]: /api/routing/clear_route: status code 50000 'The route cannot be cleared while it is in use.' (/default_ad_api/helpers/routing_adaptor) (set_error() at /home/kosuke55/pilot-auto/src/autoware/universe/common/autoware_component_interface_tools/src/service_log_checker.cpp:86)

putting goal with rviz calls /api/routing/set_route_points. but it is not allowed to reroute.
we can use /api/routing/change_route_points for rerouing while driving.

[zhmman]

Maybe I didn't speak clearly enough, what I meant was that  1. i set a goal position and the vehicle arrived the goal position.  2. then i set a new goal position again ,this time the mission planner can not complete router and the Auto button keeps gray.

…

------------------ 原始邮件 ------------------ 发件人: "autowarefoundation/autoware.universe" ***@***.***>; 发送时间: 2025年1月6日(星期一) 下午3:56 ***@***.***>; ***@***.******@***.***>; 主题: Re: [autowarefoundation/autoware.universe] I have found a bug in line 352 in behavior_pah_planner_node.cpp (Issue #9826) thank you for your report and suggestion. we can change route with second goal when ego vehicle stops. image.png (view on web) image.png (view on web) run planning simulation ,set goal position push auto button. set goal position again. you tried to put the second goal while the vehicle is driving? It is not allowed. [service_log_checker_node-5] [ERROR 1736149893.931478769] [system.service_log_checker]: /api/routing/clear_route: status code 50000 'The route cannot be cleared while it is in use.' (/default_ad_api/helpers/routing_adaptor) (set_error() at /home/kosuke55/pilot-auto/src/autoware/universe/common/autoware_component_interface_tools/src/service_log_checker.cpp:86) putting goal with rviz calls /api/routing/set_route_points. but it is not allowed to reroute. we can use /api/routing/change_route_points for rerouing while driving. — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: ***@***.***>

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