Update planning simulation

[mertyavuz41]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

1-) The official planning simulation test of the autoware.universe needs to be update, the ego vehicle cannot turn corners.
2-) The rviz plugins that represent the vehicle's steer and velocity are very big, it is making complex to the rviz's view.

Here I have a video:
https://netorgft4229778-my.sharepoint.com/:v:/g/personal/mert_adastec_com/EWJx8PusEylBnYmDQ5z6QWsBqQHtAIZKzgUrkcTtIbC_5g?e=CWEZdt

Purpose

1-) The official tests must run as pledged in the tutorial page, so it must not has any problem.
2-) To make rviz's view much better for new users.

Possible approaches

1-) To update lanelet of the environment or fine-tune to the control parameters may solve the issue.
2-) Change the default parameters of the rviz plugins.

Definition of done

1-) Planning simulation must perform mission that mentioned on the tutorial page.
2-) Rviz plugins must be smaller.

[takayuki5168]

@mertyavuz41
Did you try the latest version of autoware? I guess it can solve this issue.

[kenji-miyake]

@takayuki5168 Could you link some related PRs? (If you guess so.)

[mertyavuz41]

@takayuki5168, I have been updated my autoware version(master) yesterday, but master branch has a few newest commit. I will update again and I will try to run planning simulation once more.

[takayuki5168]

@mertyavuz41
Sorry, I was using a different map. Now I confirmed that the latest autoware cannot turn at the corner you pointed.

[takayuki5168]

I feel that the road width is too narrow for the sample vehicle to turn at the corner.
In your video, path planning fails, meaning that the path planner thought we cannot turn left within the road and inserted the stop line before the vehicle would be outside the road.

[takayuki5168]

@mertyavuz41
@yukkysaito will work on the issue of the stop line by drivable area, by changing a map or somehow. So please wait for it 🙏

[yukkysaito]

I'm working to have this issue resolved as soon as possible.

[TakaHoribe]

@mertyavuz41 The plugin size issue has already been fixed in the latest version by the PR #587. Could you update your version and check it? You need to update not only the autoware.universe but also the autoware_launch for rviz config. Just update the whole autoware is ok.

[bariskapaligoz]

@mertyavuz41 The plugin size issue has already been fixed in the latest version by the PR #587. Could you update your version and check it? You need to update not only the autoware.universe but also the autoware_launch for rviz config. Just update the whole autoware is ok.

Yes, rviz configuration fixed after autoware update.

[yukkysaito]

I have just resolved the issue of rights.
I will update the map tomorrow.

[yukkysaito]

@mertyavuz41
I updated the map 👍 you can download the same download link as before.
https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/

[kenji-miyake]

@yukkysaito Thank you for updating the map! Just out of curiosity, what are the differences between the old/new maps?

[mitsudome-r]

@kenji-miyake
The new map should have wider lane + smoother turns at the corners so that planner can correctly calculate a valid trajectory.

[mitsudome-r]

@mertyavuz41 @yukkysaito Can we close this issue?

[kenji-miyake]

@mitsudome-r I personally think it's okay to close this and say "If there are any issues left, please feel free to reopen this."