the path is not generated properly

[beyzanurkaya]

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

The path is not appropriately generated in some cases. The generated path is being generated shorter than it should be.

vokoscreenNG-2023-07-25_18-24-42.mp4

Expected behavior

This is how the path should look like:

Actual behavior

The path looks like this:

Steps to reproduce

1. Download map.tar.gz
2. run planning simulator
3. give an init and goal pose

Versions

No response

Possible causes

No response

Additional context

No response

[kosuke55]

@beyzanurkaya
Thank you for your report. This issue seems similar to #4109 🤔
Does your branch include this PR? ( or similar issue happens again.

[beyzanurkaya]

@kosuke55 yes my branch include this PR but this issue still exist

[kosuke55]

memo:

here

NG

OK

[kosuke55]

seems similar but another problem to #4109 🤔

[kosuke55]

memo:

checked https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/src/utils/start_planner/shift_pull_out.cpp#L150-L157

[component_container_mt-27] goal_is_behind: 0, s_start: 74.5449, s_end: 93.0561
[component_container_mt-27] road_lanes: 2039, 2062, 2071, 2100, 8350, 1663, 8401, 1747, 8462, 1801, 8580, 1816, 8457, 1786, 8405, 1674, 8364, 2270,

the road_lanes is wrong maybe because of getExtendedCurrentLanes.
need to check the extended lane is road_lanes and add that as possible.
https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/src/utils/utils.cpp#L2857

[kosuke55]

fixed in #4418

[beyzanurkaya]

@kosuke55 thank you, I'll close the issue then

[mehmetdogru]

Lets close the issue after the PRs Kosuke-san opened. @beyzanurkaya please test the PRs if possible #4418
#4422

[kosuke55]

I have merged the PRs, so please let me know if the problem still exists.

[beyzanurkaya]

@mehmetdogru @kosuke55 I tested #4418 and #4422. This problem seems to no longer exist.