Guidance silently refused to plan some trajectories about carma-platform HOT 7 CLOSED

@qswawrq please provide justification for this being sev 2 (workaround). Is there any updated info we should know?

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Looks like something went wrong with the handoff of that last trajectory to the Trajectory Executor

 2018-06-14 10:31:23:609 | INFO | TrajectoryExecutor | NONE | Received RouteState. New downtrack distance: 10423.378312327128 
 2018-06-14 10:31:23:609 | INFO | TrajectoryExecutorWorker | NONE | Finished downtrack distance update with no trajectory. 
 2018-06-14 10:31:23:696 | INFO | Tracking | NONE | Current vehicle speed is 26.621999740600586 m/s 
 2018-06-14 10:31:23:714 | INFO | TrajectoryExecutor | NONE | Received RouteState. New downtrack distance: 10426.279597473957 
 2018-06-14 10:31:23:714 | INFO | TrajectoryExecutorWorker | NONE | Finished downtrack distance update with no trajectory.

as shown by the Finished downtrack distance update with no trajectory. lines that populate the file after that. It means the TrajExecutor isn't actually running a trajectory, which means it doesn't replan. I thought we had logic in here to handle this at one point, because of a corner case like this. It may have been removed as obsolete after the IntervalTree refactor of trajectories. I think adding a forced replan after N timesteps with no trajectory would bandaid fix this but it'd be best to eventually figure out the root cause.

from carma-platform.

@qswawrq @Supraluminal Is this still a problem? Is it really a sev2? Given that we have done so many successful runs since this was written I would argue that at least one of these answers must be "no".

from carma-platform.

I think it is a corner case for TrajectoryExecutor, but the root cause is not clear.
It only happens twice on entire I-95 test based on my memory. We could adjust the severity to SEV4.

from carma-platform.

@qswawrq we need to reserve sev 4 for truly cosmetic problems. Anything that has a functional implication should be no lower than sev 3.

from carma-platform.

This issue was transferred from the original CARMAPlatform: Old issue # 927

from carma-platform.

Applies to Carma2 architecture, so is now OBE.

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