behavior_path_planner creates shift point outside drivable area

[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

behavior_path_planner creates a shift point outside drivable area while avoiding the obstacle.

Expected behavior

The shift points behavior_path_planner creates must always be inside drivable area.

Actual behavior

In some cases the shift point comes out of the drivable area.

Steps to reproduce

1. Download isuzu_vehicle_launch in here
2. Download test.zip
3. Change publish_debug_marker parameter to true in avoidance.param.yaml
4. run ros2 launch scenario_test_runner scenario_test_runner.launch.py sensor_model:=sample_sensor_kit vehicle_model:=isuzu_vehicle \ scenario:=/scenario/path/test.yaml \ architecture_type:=awf/universe launch_rviz:=false launch_autoware:=true

Versions

No response

Possible causes

No response

Additional context

No response

[maxime-clem]

Can you try this PR: #2196 ? I think it will fix this issue.

[mehmetdogru]

@beyzanurkaya

Could you please share some screenshots or videos explains the issue?

[beyzanurkaya]

Can you try this PR: #2196 ? I think it will fix this issue.

I already created a PR for this issue actually.

[mehmetdogru]

I will close the issue since I was not able to reproduce it anymore.