Gear is not changed to PARK on goal anymore.

[VRichardJP]

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

During a recent test drive, I observed Autoware does not change the vehicle gear to PARK anymore upon reaching goal. Normally, this piece of code is supposed to do so when ARRIVED_GOAL state is received:

autoware.universe/control/shift_decider/src/shift_decider.cpp

Lines 73 to 74 in 001a865

	if (autoware_state_->state == AutowareState::ARRIVED_GOAL && park_on_goal_) {
	shift_cmd_.command = GearCommand::PARK;

Upon arrival, Autoware state changes quickly from DRIVING to ARRIVED_GOAL, to FINALIZING, then back to WAITING_FOR_ROUTE. Autoware is always in Autonomous mode and the vehicle is always engaged.

Expected behavior

Gear is changed to park upon arrival if park_on_goal_ is true

Actual behavior

Gear unchanged.

Steps to reproduce

Drive autonomously to any goal.

Versions

No response

Possible causes

No response

Additional context

No response

[brkay54]

I couldn't observe the problem at commit sha in the universe: f627fc30a6730af52348e0605437d7ed6806170e (the latest commit)

Could you recheck whether the issue still occurs or not?

[brkay54]

Sorry for my mistake, it still occurs. I am going to work on this.