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I've searched other issues and no duplicate issues were found.
I'm convinced that this is not my fault but a bug.
Description
Where trees located beside roads are incorrectly considered as obstacles on the road. It disrupts normal vehicle operations by causing unnecessary avoidance maneuvers or stops.
Expected behavior
The vehicle should go ahead.
Actual behavior
The vehicle stops and does not proceed upon approaching a tree, mistaking it for an obstacle on the road.
Steps to reproduce
Launch Autoware.Universe.
Drive the vehicle towards areas around the tree
Observe that the vehicle stops, treating it as an obstacle on the road.
This behavior likely originates from the Surround Obstacle Checker module, which subscribes to the /perception/obstacle_segmentation/pointcloud topic. Furthermore, the absence of detected objects in the /perception/object_recognition/objects topic output may exacerbate the issue, indicating potential malfunctions in the perception module.
Checklist
Description
Where trees located beside roads are incorrectly considered as obstacles on the road. It disrupts normal vehicle operations by causing unnecessary avoidance maneuvers or stops.
Expected behavior
The vehicle should go ahead.
Actual behavior
The vehicle stops and does not proceed upon approaching a tree, mistaking it for an obstacle on the road.
Steps to reproduce
Versions
-OS: Ubuntu 20.04
-ROS2: ros2 galactic
-Autoware: Autoware.universe galactic
Possible causes
This behavior likely originates from the Surround Obstacle Checker module, which subscribes to the /perception/obstacle_segmentation/pointcloud topic. Furthermore, the absence of detected objects in the /perception/object_recognition/objects topic output may exacerbate the issue, indicating potential malfunctions in the perception module.
Additional context
This may have the same root cause as #6936.
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