fix(behavior_path_planner, behavior_static_obstacle_avoidance_module): crash during goal changes #10205
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…: empty path handling Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
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## main #10205 +/- ##
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| mutable BehaviorModuleOutput last_valid_reference_path_; | ||
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| mutable bool has_last_valid_reference_path_; |
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Please use optional<BehaviorModuleOujtput> last_valid_rerference_path_ and set a valid value if and only if the reference path was not empty.
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Thank you, fixed in 3fb679c
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@soblin Could you check my fix?
Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
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…: crash during goal changes (autowarefoundation#10205) * fix(behavior_path_planner, behavior_static_obstacle_avoidance_module): empty path handling Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix * refactor: use optional Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: std Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…: crash during goal changes (autowarefoundation#10205) * fix(behavior_path_planner, behavior_static_obstacle_avoidance_module): empty path handling Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * style(pre-commit): autofix * refactor: use optional Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> * fix: std Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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…: crash during goal changes (autowarefoundation#10205) (#1931) * fix(behavior_path_planner, behavior_static_obstacle_avoidance_module): empty path handling * style(pre-commit): autofix * refactor: use optional * fix: std --------- Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
Problem
This PR addresses two related crash scenarios that occur during route transitions, particularly when modified goals are updated:
Primary crash:
When routes are updated,
PlannerManager::getReferencePath()can produce empty paths, leading to exceptions invalidateNonEmpty()functions when these paths are used by downstream modules.Secondary crash:
After initially addressing the primary crash, we discovered a segmentation fault in
RoutingGraph::following()when the Static Obstacle Avoidance module processes these empty paths.The crashes occur in this sequence:
Primary crash ros log
Secondary crash ros log
Screencast.from.2025.02.27.19.49.37.webm
Screencast.from.2025.02.27.19.16.30.webm
Solution
The PR implements defensive programming at two steps:
PlannerManager enhancements:
Path utils and Avoidance module improvements:
utils::getReferencePath()fillFundamentalData()for empty paths/laneletsgetExtendLanes()This PR significantly improves system robustness during route transitions, which is critical for operational safety.
Related links
How was this PR tested?
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.