autowarefoundation/autoware

AD failure acused by /system/operation_mode/state missing

liuXinGangChina opened this issue · 3 comments

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

Error occour when autoware run well with mission planning localization and perception, but motion planning did not output path.
We dig into the code and found the line , this line will cause the planner return.

Expected behavior

AD start normally , and the car moves

Actual behavior

no motion planning path out

Steps to reproduce

launch with autoware_launch

Versions

ros2
code version 17th july

Possible causes

No response

Additional context

No response

meanwhile we are working on find out which node will output topic "/system/operation_mode/state"

hi mits-san, for behavier_path_planner ,it sub /system/operation_mode/state but we are not sure who pub this. can you assign a engineer for this issue @mitsudome-r

Thanks for your help, we finally found out the reason.
the state machine within control montior /vehicle/status/control_mode to determine whether ego is in ad mode.
We update the drive by wire code to provide that info.
Every thing seems fine now!