path planning error

[BBRAVEV]

I have completed building the map. When planning the path, if the target is close, the path can be planned normally. If it is far, an off-track straight line will appear (directly across the map), but when there is no problem running the simulator.

[maxime-clem]

Are you able to share your lanelet map ?
This way we can try to reproduce the issue and identify if it is caused by a bug or by the map itself.

[maxime-clem]

Thank you. I have not found any obvious issue with the map.
It is curious that the goal planner is running. Are you using a very large vehicle ?

[BBRAVEV]

Thank you for your answer. We are using a very small vehicle as follow.

[maxime-clem]

Then I wonder if the vehicle dimensions are not properly set in Autoware.
Please make sure you followed this guide: https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-vehicle-model/

[BBRAVEV]

OK, I'll check it, thanks for your answer.

[liuXinGangChina]

hi @BBRAVEV
调整一下，底盘参数里的轴距和左右轮距离
另外autoware默认是阿克曼简化而来的单车控制模型，你这是差速地盘吗？记得关注下控制方式

别担心，这些都是小问题，我们已经开发autoware7年多了，有什么问题尽管问哈

you should at least set several chasis parameters according to your robot platform，and change control model from Ackerman to differential
，hope everything goes well

心刚

祝顺利！