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Unsuccessful calls to Cooperative Lanechange Plugin #2395

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MishkaMN opened this issue May 31, 2024 · 0 comments
Open

Unsuccessful calls to Cooperative Lanechange Plugin #2395

MishkaMN opened this issue May 31, 2024 · 0 comments
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anomaly Something isn't working

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@MishkaMN
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MishkaMN commented May 31, 2024 •
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Summary

During preparation of 06/11/2024 unsignalized workzone demo , BP and Fusion both showed frequent trajectory loss observed from rviz. It looks like the trajectory is blinking, which results in vehicle sometimes yanking a little bit out of the lanechange.

Inspecting the logs shows 81+ instances of unsuccessful calls to cooperative_lanechange.

Increasing tactical_plugin_timeout parameter in carma-config from 100ms to 300ms largely resolved the issue.

Therefore, it is assumed that the plugin is inefficient or needs more tuning to perform better.

Version

4.5.0 (Current)

Expected Behavior

See above

Actual Behavior

See above

Steps to Reproduce the Actual Behavior

perform any kind of lanechange

Related Work

No response
@MishkaMN MishkaMN added the anomaly Something isn't working label May 31, 2024
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@MishkaMN