feat(autoware_path_optimizer): new path optimizer by PanConChicharron · Pull Request #11479 · autowarefoundation/autoware_universe

PanConChicharron · 2025-10-10T04:23:54Z

Description

Design:
https://tier4.atlassian.net/wiki/spaces/~712020794ae44077c44b7e9a5aa2cb085494fb/pages/3801186884/MPT+Redesign

Results after Integration:
https://tier4.atlassian.net/wiki/spaces/~712020794ae44077c44b7e9a5aa2cb085494fb/pages/3857515047/Integration+with+Autoware

Core changes:

feat(autoware_interpolation): exposing access to coefficients autoware_core#671

Launcher changes:

feat(autoware_path_optimizer): parameters for acados-based MPT autoware_launch#1716

How was this PR tested?

Tested via CI and planning_simulator: https://tier4.atlassian.net/wiki/spaces/~712020794ae44077c44b7e9a5aa2cb085494fb/pages/3857515047/Integration+with+Autoware

Notes for reviewers

None.

Interface changes

Added the following topics:

~/debug/optimised_steering
~/debug/acados_mpt_traj"
~/debug/acados_optimised_steering
~/debug/optimised_states
~/debug/acados_optimised_states
~/debug/ref_steering

Which can be used for debugging using planning/autoware_path_optimizer/scripts/mpt_debug_visualizer.py

Effects on system behavior

None.

github-actions · 2025-10-10T04:24:10Z

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Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

codecov · 2026-03-04T03:54:03Z

Codecov Report

❌ Patch coverage is 21.03321% with 214 lines in your changes missing coverage. Please review.
✅ Project coverage is 19.07%. Comparing base (f7d0e19) to head (1324f1d).
⚠️ Report is 15 commits behind head on main.

Files with missing lines	Patch %	Lines
...ning/autoware_path_optimizer/src/mpt_optimizer.cpp	17.64%	152 Missing and 2 partials ⚠️
..._optimizer/src/acados_mpc/src/acados_interface.cpp	28.91%	58 Missing and 1 partial ⚠️
...imizer/src/acados_mpc/include/acados_interface.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #11479      +/-   ##
==========================================
+ Coverage   18.36%   19.07%   +0.71%     
==========================================
  Files        1844     1876      +32     
  Lines      127260   128515    +1255     
  Branches    45159    47597    +2438     
==========================================
+ Hits        23371    24515    +1144     
- Misses      84461    85417     +956     
+ Partials    19428    18583     -845

Flag	Coverage Δ		*Carryforward flag
daily	`20.86% <ø> (+<0.01%)`	⬆️	Carriedforward from bbe8062
daily-cuda	`18.38% <ø> (+0.01%)`	⬆️	Carriedforward from bbe8062
differential	`3.94% <21.03%> (?)`
total-cuda	`18.36% <ø> (+<0.01%)`	⬆️	Carriedforward from bbe8062

*This pull request uses carry forward flags. Click here to find out more.

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❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

PanConChicharron · 2026-03-04T07:03:49Z

build-and-test-packages-above-differential passes when run locally:

Details

arjunram@dpc2312004:~/Workspace/autoware$ colcon test --event-handlers console_cohesion+ --packages-select autoware_static_centerline_generator
Starting >>> autoware_static_centerline_generator
[Processing: autoware_static_centerline_generator]
[Processing: autoware_static_centerline_generator]
[Processing: autoware_static_centerline_generator]
--- output: autoware_static_centerline_generator
UpdateCTestConfiguration from :/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/CTestConfiguration.ini
Parse Config file:/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/CTestConfiguration.ini
Site: dpc2312004
Build name: (empty)
Add coverage exclude regular expressions.
Create new tag: 20260304-0659 - Experimental
UpdateCTestConfiguration from :/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/CTestConfiguration.ini
Parse Config file:/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/CTestConfiguration.ini
Test project /home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator
Constructing a list of tests
Done constructing a list of tests
Updating test list for fixtures
Added 0 tests to meet fixture requirements
Checking test dependency graph...
Checking test dependency graph end
test 1
Start 1: copyright

1: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/copyright.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/ament_copyright/copyright.txt" "--command" "/opt/ros/humble/bin/ament_copyright" "--xunit-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/copyright.xunit.xml"
1: Test timeout computed to be: 200
1: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator':
1: - /opt/ros/humble/bin/ament_copyright --xunit-file /home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/copyright.xunit.xml
1: No problems found, checked 22 files
1: -- run_test.py: return code 0
1: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/copyright.xunit.xml'
1/10 Test #1: copyright ................................................................... Passed 0.58 sec
test 2
Start 2: cppcheck

2: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/cppcheck.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/ament_cppcheck/cppcheck.txt" "--command" "/opt/ros/humble/bin/ament_cppcheck" "--xunit-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/cppcheck.xunit.xml"
2: Test timeout computed to be: 300
2: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator':
2: - /opt/ros/humble/bin/ament_cppcheck --xunit-file /home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/cppcheck.xunit.xml
2: cppcheck 2.7 has known performance issues and therefore will not be used, set the AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS environment variable to override this.
2: -- run_test.py: return code 0
2: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/cppcheck.xunit.xml'
2/10 Test #2: cppcheck .................................................................... Passed 0.14 sec
test 3
Start 3: lint_cmake

3: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/lint_cmake.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/ament_lint_cmake/lint_cmake.txt" "--command" "/opt/ros/humble/bin/ament_lint_cmake" "--xunit-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/lint_cmake.xunit.xml"
3: Test timeout computed to be: 60
3: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator':
3: - /opt/ros/humble/bin/ament_lint_cmake --xunit-file /home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/lint_cmake.xunit.xml
3:
3: No problems found
3: -- run_test.py: return code 0
3: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/lint_cmake.xunit.xml'
3/10 Test #3: lint_cmake .................................................................. Passed 0.13 sec
test 4
Start 4: xmllint

4: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/xmllint.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/ament_xmllint/xmllint.txt" "--command" "/opt/ros/humble/bin/ament_xmllint" "--xunit-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/xmllint.xunit.xml"
4: Test timeout computed to be: 60
4: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator':
4: - /opt/ros/humble/bin/ament_xmllint --xunit-file /home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/xmllint.xunit.xml
4: File 'package.xml' is valid
4:
4: File 'launch/run_planning_server.launch.xml' is valid
4:
4: File 'launch/static_centerline_generator.launch.xml' is valid
4:
4: No problems found
4: -- run_test.py: return code 0
4: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/xmllint.xunit.xml'
4/10 Test #4: xmllint ..................................................................... Passed 0.39 sec
test 5
Start 5: test_test_static_centerline_generator_launch.test.py

5: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_launch.test.py.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/launch_test/test_test_static_centerline_generator_launch.test.py.txt" "--command" "/usr/bin/python3" "-m" "launch_testing.launch_test" "/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py" "--junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_launch.test.py.xunit.xml" "--package-name=autoware_static_centerline_generator"
5: Test timeout computed to be: 30
5: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator':
5: - /usr/bin/python3 -m launch_testing.launch_test /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_launch.test.py --junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_launch.test.py.xunit.xml --package-name=autoware_static_centerline_generator
5: [INFO] [launch]: All log files can be found below /home/arjunram/.ros/log/2026-03-04-15-59-12-437199-dpc2312004-3634113
5: [INFO] [launch]: Default logging verbosity is set to INFO
5: [INFO] [autoware_vector_map_tf_generator-1]: process started with pid [3634122]
5: [INFO] [autoware_lanelet2_map_visualizer-2]: process started with pid [3634124]
5: [INFO] [main-3]: process started with pid [3634126]
5: [main-3] [INFO 1772607552.704312613] [static_centerline_generator]: Loaded map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:423)
5: [main-3] [INFO 1772607552.704506665] [static_centerline_generator]: Published map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:427)
5: [autoware_lanelet2_map_visualizer-2] [INFO 1772607552.706666168] [lanelet2_map_visualization]: Map is loaded
5: [autoware_lanelet2_map_visualizer-2] (on_map_bin() at /home/arjunram/Workspace/autoware/src/core/autoware_core/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp:89)
5: [autoware_vector_map_tf_generator-1] [INFO 1772607552.706738301] [vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:1116.37, y:1238.29, z:100 (on_vector_map() at /home/arjunram/Workspace/autoware/src/universe/autoware_universe/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp:93)
5: [main-3] [INFO 1772607552.708555883] [static_centerline_generator]: Calculated check points. (plan_route() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:505)
5: [main-3] [WARN 1772607552.712119518] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
5: [main-3] [INFO 1772607552.716952952] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 633 25 30 40 53 68 73 432 86 201 211 216 236 249 254 270 279 ] (getMainLanelets() at /home/arjunram/Workspace/autoware/src/core/autoware_core/planning/autoware_route_handler/src/route_handler.cpp:2281)
5: [main-3] [INFO 1772607552.817295778] [static_centerline_generator]: Calculated raw path with lane id and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:126)
5: [main-3] [INFO 1772607552.817598511] [static_centerline_generator]: Converted to path and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:136)
5: [main-3] [WARN 1772607553.019890807] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
5: [main-3] [INFO 1772607554.339820756] [static_centerline_generator]: Smoothed trajectory and made it collision free with the road and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:141)
5: [main-3]
5: [main-3] ############################################## Validation Results ##############################################
5: [main-3] 1. Footprints inside Lanelets:
5: [main-3] The generated centerline is inside the lanelet. (threshold:0[m] < actual:0.252414[m])
5: [main-3] Passed.
5: [main-3] 2. Curvature:
5: [main-3] The generated centerline has a too high steer angle. (threshold:40.107[deg] <= estimated:54.4073[deg])
5: [main-3] However, the estimated steer angle is not enough precise, so the result is conditional pass.
5: [main-3] Conditionally Passed.
5: [main-3]
5: [main-3] Result:
5: [main-3] Passed!
5: [main-3] ################################################################################################################
5: [main-3]
5: [main-3] [INFO 1772607554.342241337] [static_centerline_generator]: Validated the generated centerline. (validate_centerline() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:899)
5: [main-3] [INFO 1772607554.343209819] [static_centerline_generator]: Updated centerline in map. (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:915)
5: [main-3] [INFO 1772607554.348676110] [static_centerline_generator]: Saved map in /tmp/autoware_static_centerline_generator/lanelet2_map.osm (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:922)
5: test (autoware_static_centerline_generator.TestAutoOperation) ... ok
5:
5: ----------------------------------------------------------------------
5: Ran 1 test in 0.329s
5:
5: OK
5: start setUp
5: spin_once for self.traj_sub_node
5: callbackTrajectory
5: spin_once for self.map_saved_sub_node
5: callbackMapSaved
5: end setUp
5: [INFO] [main-3]: sending signal 'SIGINT' to process[main-3]
5: [INFO] [autoware_lanelet2_map_visualizer-2]: sending signal 'SIGINT' to process[autoware_lanelet2_map_visualizer-2]
5: [INFO] [autoware_vector_map_tf_generator-1]: sending signal 'SIGINT' to process[autoware_vector_map_tf_generator-1]
5: [main-3] [INFO 1772607555.946325283] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
5: [autoware_lanelet2_map_visualizer-2] [INFO 1772607555.946583621] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
5: [autoware_vector_map_tf_generator-1] [INFO 1772607555.946818831] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
5: [INFO] [autoware_lanelet2_map_visualizer-2]: process has finished cleanly [pid 3634124]
5: [INFO] [main-3]: process has finished cleanly [pid 3634126]
5: [INFO] [autoware_vector_map_tf_generator-1]: process has finished cleanly [pid 3634122]
5: test_exit_code (autoware_static_centerline_generator.TestProcessOutput) ... ok
5:
5: ----------------------------------------------------------------------
5: Ran 1 test in 0.000s
5:
5: OK
5: -- run_test.py: return code 0
5: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_launch.test.py.xunit.xml'
5/10 Test #5: test_test_static_centerline_generator_launch.test.py ........................ Passed 3.99 sec
test 6
Start 6: test_test_static_centerline_generator_path_generator_case1_launch.test.py

6: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case1_launch.test.py.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/launch_test/test_test_static_centerline_generator_path_generator_case1_launch.test.py.txt" "--command" "/usr/bin/python3" "-m" "launch_testing.launch_test" "/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case1_launch.test.py" "--junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case1_launch.test.py.xunit.xml" "--package-name=autoware_static_centerline_generator"
6: Test timeout computed to be: 90
6: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator':
6: - /usr/bin/python3 -m launch_testing.launch_test /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case1_launch.test.py --junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case1_launch.test.py.xunit.xml --package-name=autoware_static_centerline_generator
6: [INFO] [launch]: All log files can be found below /home/arjunram/.ros/log/2026-03-04-15-59-16-434109-dpc2312004-3634303
6: [INFO] [launch]: Default logging verbosity is set to INFO
6: [INFO] [autoware_vector_map_tf_generator-1]: process started with pid [3634308]
6: [INFO] [autoware_lanelet2_map_visualizer-2]: process started with pid [3634310]
6: [INFO] [main-3]: process started with pid [3634312]
6: [main-3] [INFO 1772607556.693825788] [static_centerline_generator]: Loaded map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:423)
6: [main-3] [INFO 1772607556.693995445] [static_centerline_generator]: Published map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:427)
6: [autoware_vector_map_tf_generator-1] [INFO 1772607556.696037856] [vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:1116.37, y:1238.29, z:100 (on_vector_map() at /home/arjunram/Workspace/autoware/src/universe/autoware_universe/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp:93)
6: [autoware_lanelet2_map_visualizer-2] [INFO 1772607556.696086609] [lanelet2_map_visualization]: Map is loaded
6: [autoware_lanelet2_map_visualizer-2] (on_map_bin() at /home/arjunram/Workspace/autoware/src/core/autoware_core/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp:89)
6: [main-3] [INFO 1772607556.697688679] [static_centerline_generator]: Calculated check points. (plan_route() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:505)
6: [main-3] [WARN 1772607556.702060247] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
6: [main-3] [INFO 1772607556.706824919] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 633 25 30 40 53 68 73 432 86 201 211 216 236 249 254 270 279 ] (getMainLanelets() at /home/arjunram/Workspace/autoware/src/core/autoware_core/planning/autoware_route_handler/src/route_handler.cpp:2281)
6: [main-3] [INFO 1772607556.805774368] [static_centerline_generator]: Calculated raw path with lane id and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:126)
6: [main-3] [INFO 1772607556.805991589] [static_centerline_generator]: Converted to path and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:136)
6: [main-3] [WARN 1772607557.008083359] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
6: [main-3] [WARN 1772607557.211273633] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
6: [main-3] [INFO 1772607558.440155885] [static_centerline_generator]: Smoothed trajectory and made it collision free with the road and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:141)
6: [main-3]
6: [main-3] ############################################## Validation Results ##############################################
6: [main-3] 1. Footprints inside Lanelets:
6: [main-3] The generated centerline is inside the lanelet. (threshold:0[m] < actual:0.239355[m])
6: [main-3] Passed.
6: [main-3] 2. Curvature:
6: [main-3] The generated centerline has a too high steer angle. (threshold:40.107[deg] <= estimated:53.683[deg])
6: [main-3] However, the estimated steer angle is not enough precise, so the result is conditional pass.
6: [main-3] Conditionally Passed.
6: [main-3]
6: [main-3] Result:
6: [main-3] Passed!
6: [main-3] ################################################################################################################
6: [main-3]
6: [main-3] [INFO 1772607558.442557504] [static_centerline_generator]: Validated the generated centerline. (validate_centerline() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:899)
6: [main-3] [INFO 1772607558.443148044] [static_centerline_generator]: Updated centerline in map. (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:915)
6: [main-3] [INFO 1772607558.446732071] [static_centerline_generator]: Saved map in /tmp/autoware_static_centerline_generator/lanelet2_map.osm (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:922)
6: test (autoware_static_centerline_generator.TestAutoOperation) ... ok
6:
6: ----------------------------------------------------------------------
6: Ran 1 test in 0.320s
6:
6: OK
6: start setUp
6: spin_once for self.traj_sub_node
6: callbackTrajectory
6: spin_once for self.map_saved_sub_node
6: callbackMapSaved
6: end setUp
6: [INFO] [main-3]: sending signal 'SIGINT' to process[main-3]
6: [INFO] [autoware_lanelet2_map_visualizer-2]: sending signal 'SIGINT' to process[autoware_lanelet2_map_visualizer-2]
6: [INFO] [autoware_vector_map_tf_generator-1]: sending signal 'SIGINT' to process[autoware_vector_map_tf_generator-1]
6: [main-3] [INFO 1772607559.931732499] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
6: [autoware_lanelet2_map_visualizer-2] [INFO 1772607559.931918101] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
6: [autoware_vector_map_tf_generator-1] [INFO 1772607559.932090160] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
6: [INFO] [main-3]: process has finished cleanly [pid 3634312]
6: [INFO] [autoware_lanelet2_map_visualizer-2]: process has finished cleanly [pid 3634310]
6: [INFO] [autoware_vector_map_tf_generator-1]: process has finished cleanly [pid 3634308]
6: test_exit_code (autoware_static_centerline_generator.TestProcessOutput) ... ok
6:
6: ----------------------------------------------------------------------
6: Ran 1 test in 0.000s
6:
6: OK
6: -- run_test.py: return code 0
6: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case1_launch.test.py.xunit.xml'
6/10 Test #6: test_test_static_centerline_generator_path_generator_case1_launch.test.py ... Passed 3.98 sec
test 7
Start 7: test_test_static_centerline_generator_path_generator_case2_launch.test.py

7: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case2_launch.test.py.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/launch_test/test_test_static_centerline_generator_path_generator_case2_launch.test.py.txt" "--command" "/usr/bin/python3" "-m" "launch_testing.launch_test" "/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case2_launch.test.py" "--junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case2_launch.test.py.xunit.xml" "--package-name=autoware_static_centerline_generator"
7: Test timeout computed to be: 90
7: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator':
7: - /usr/bin/python3 -m launch_testing.launch_test /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case2_launch.test.py --junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case2_launch.test.py.xunit.xml --package-name=autoware_static_centerline_generator
7: [INFO] [launch]: All log files can be found below /home/arjunram/.ros/log/2026-03-04-15-59-20-414226-dpc2312004-3634469
7: [INFO] [launch]: Default logging verbosity is set to INFO
7: [INFO] [autoware_vector_map_tf_generator-1]: process started with pid [3634472]
7: [INFO] [autoware_lanelet2_map_visualizer-2]: process started with pid [3634474]
7: [INFO] [main-3]: process started with pid [3634476]
7: [main-3] [INFO 1772607560.674271536] [static_centerline_generator]: Loaded map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:423)
7: [main-3] [INFO 1772607560.674440076] [static_centerline_generator]: Published map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:427)
7: [autoware_vector_map_tf_generator-1] [INFO 1772607560.676596088] [vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:1116.37, y:1238.29, z:100 (on_vector_map() at /home/arjunram/Workspace/autoware/src/universe/autoware_universe/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp:93)
7: [autoware_lanelet2_map_visualizer-2] [INFO 1772607560.677379059] [lanelet2_map_visualization]: Map is loaded
7: [autoware_lanelet2_map_visualizer-2] (on_map_bin() at /home/arjunram/Workspace/autoware/src/core/autoware_core/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp:89)
7: [main-3] [INFO 1772607560.678121068] [static_centerline_generator]: Calculated check points. (plan_route() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:505)
7: [main-3] [WARN 1772607560.681624950] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
7: [main-3] [INFO 1772607560.686880308] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 279 288 295 300 305 314 328 338 343 348 359 364 447 452 459 468 558 475 563 574 579 600 605 610 621 626 633 ] (getMainLanelets() at /home/arjunram/Workspace/autoware/src/core/autoware_core/planning/autoware_route_handler/src/route_handler.cpp:2281)
7: [main-3] [INFO 1772607560.786135528] [static_centerline_generator]: Calculated raw path with lane id and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:126)
7: [main-3] [INFO 1772607560.786489420] [static_centerline_generator]: Converted to path and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:136)
7: [main-3] [WARN 1772607560.989764999] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
7: [main-3] [WARN 1772607561.192109823] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
7: [main-3] [INFO 1772607562.749886767] [static_centerline_generator]: Smoothed trajectory and made it collision free with the road and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:141)
7: [main-3]
7: [main-3] ############################################## Validation Results ##############################################
7: [main-3] 1. Footprints inside Lanelets:
7: [main-3] The generated centerline is inside the lanelet. (threshold:0[m] < actual:0.27552[m])
7: [main-3] Passed.
7: [main-3] 2. Curvature:
7: [main-3] The generated centerline has a too high steer angle. (threshold:40.107[deg] <= estimated:56.8237[deg])
7: [main-3] However, the estimated steer angle is not enough precise, so the result is conditional pass.
7: [main-3] Conditionally Passed.
7: [main-3]
7: [main-3] Result:
7: [main-3] Passed!
7: [main-3] ################################################################################################################
7: [main-3]
7: [main-3] [INFO 1772607562.753541186] [static_centerline_generator]: Validated the generated centerline. (validate_centerline() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:899)
7: [main-3] [INFO 1772607562.754536202] [static_centerline_generator]: Updated centerline in map. (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:915)
7: [main-3] [INFO 1772607562.758746803] [static_centerline_generator]: Saved map in /tmp/autoware_static_centerline_generator/lanelet2_map.osm (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:922)
7: test (autoware_static_centerline_generator.TestAutoOperation) ... ok
7:
7: ----------------------------------------------------------------------
7: Ran 1 test in 0.324s
7:
7: OK
7: start setUp
7: spin_once for self.traj_sub_node
7: callbackTrajectory
7: spin_once for self.map_saved_sub_node
7: callbackMapSaved
7: end setUp
7: [INFO] [main-3]: sending signal 'SIGINT' to process[main-3]
7: [INFO] [autoware_lanelet2_map_visualizer-2]: sending signal 'SIGINT' to process[autoware_lanelet2_map_visualizer-2]
7: [INFO] [autoware_vector_map_tf_generator-1]: sending signal 'SIGINT' to process[autoware_vector_map_tf_generator-1]
7: [main-3] [INFO 1772607563.916553043] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
7: [autoware_lanelet2_map_visualizer-2] [INFO 1772607563.916713327] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
7: [autoware_vector_map_tf_generator-1] [INFO 1772607563.917047934] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
7: [INFO] [autoware_lanelet2_map_visualizer-2]: process has finished cleanly [pid 3634474]
7: [INFO] [main-3]: process has finished cleanly [pid 3634476]
7: [INFO] [autoware_vector_map_tf_generator-1]: process has finished cleanly [pid 3634472]
7: test_exit_code (autoware_static_centerline_generator.TestProcessOutput) ... ok
7:
7: ----------------------------------------------------------------------
7: Ran 1 test in 0.000s
7:
7: OK
7: -- run_test.py: return code 0
7: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case2_launch.test.py.xunit.xml'
7/10 Test #7: test_test_static_centerline_generator_path_generator_case2_launch.test.py ... Passed 3.99 sec
test 8
Start 8: test_test_static_centerline_generator_path_generator_case3_launch.test.py

8: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case3_launch.test.py.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/launch_test/test_test_static_centerline_generator_path_generator_case3_launch.test.py.txt" "--command" "/usr/bin/python3" "-m" "launch_testing.launch_test" "/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case3_launch.test.py" "--junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case3_launch.test.py.xunit.xml" "--package-name=autoware_static_centerline_generator"
8: Test timeout computed to be: 90
8: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator':
8: - /usr/bin/python3 -m launch_testing.launch_test /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case3_launch.test.py --junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case3_launch.test.py.xunit.xml --package-name=autoware_static_centerline_generator
8: [INFO] [launch]: All log files can be found below /home/arjunram/.ros/log/2026-03-04-15-59-24-405866-dpc2312004-3634635
8: [INFO] [launch]: Default logging verbosity is set to INFO
8: [INFO] [autoware_vector_map_tf_generator-1]: process started with pid [3634638]
8: [INFO] [autoware_lanelet2_map_visualizer-2]: process started with pid [3634640]
8: [INFO] [main-3]: process started with pid [3634642]
8: [main-3] [INFO 1772607564.663064601] [static_centerline_generator]: Loaded map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:423)
8: [main-3] [INFO 1772607564.663213745] [static_centerline_generator]: Published map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:427)
8: [autoware_lanelet2_map_visualizer-2] [INFO 1772607564.665322705] [lanelet2_map_visualization]: Map is loaded
8: [autoware_lanelet2_map_visualizer-2] (on_map_bin() at /home/arjunram/Workspace/autoware/src/core/autoware_core/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp:89)
8: [autoware_vector_map_tf_generator-1] [INFO 1772607564.666004825] [vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:1116.37, y:1238.29, z:100 (on_vector_map() at /home/arjunram/Workspace/autoware/src/universe/autoware_universe/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp:93)
8: [main-3] [INFO 1772607564.666908694] [static_centerline_generator]: Calculated check points. (plan_route() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:505)
8: [main-3] [WARN 1772607564.670379284] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
8: [main-3] [INFO 1772607564.675189920] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 661 670 675 686 780 73 432 86 201 890 895 900 905 910 915 922 927 1085 1102 1118 1127 1211 1134 1216 1221 1284 1235 1386 1327 1412 1423 1434 1443 1448 1459 1464 1469 1480 ] (getMainLanelets() at /home/arjunram/Workspace/autoware/src/core/autoware_core/planning/autoware_route_handler/src/route_handler.cpp:2281)
8: [main-3] [INFO 1772607564.774744989] [static_centerline_generator]: Calculated raw path with lane id and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:126)
8: [main-3] [INFO 1772607564.775456602] [static_centerline_generator]: Converted to path and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:136)
8: [main-3] [WARN 1772607564.978574766] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
8: [main-3] [WARN 1772607565.182005748] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
8: test (autoware_static_centerline_generator.TestAutoOperation) ... start setUp
8: spin_once for self.traj_sub_node
8: [main-3] [INFO 1772607568.053729605] [static_centerline_generator]: Smoothed trajectory and made it collision free with the road and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:141)
8: callbackTrajectory
8: spin_once for self.map_saved_sub_node
8: [main-3]
8: [main-3] ############################################## Validation Results ##############################################
8: [main-3] 1. Footprints inside Lanelets:
8: [main-3] The generated centerline is inside the lanelet. (threshold:0[m] < actual:0.200055[m])
8: [main-3] Passed.
8: [main-3] 2. Curvature:
8: [main-3] The generated centerline has a too high steer angle. (threshold:40.107[deg] <= estimated:58.7884[deg])
8: [main-3] However, the estimated steer angle is not enough precise, so the result is conditional pass.
8: [main-3] Conditionally Passed.
8: [main-3]
8: [main-3] Result:
8: [main-3] Passed!
8: [main-3] ################################################################################################################
8: [main-3]
8: [main-3] [INFO 1772607568.061527990] [static_centerline_generator]: Validated the generated centerline. (validate_centerline() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:899)
8: [main-3] [INFO 1772607568.063379221] [static_centerline_generator]: Updated centerline in map. (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:915)
8: [main-3] [INFO 1772607568.069139719] [static_centerline_generator]: Saved map in /tmp/autoware_static_centerline_generator/lanelet2_map.osm (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:922)
8: ok
8:
8: ----------------------------------------------------------------------
8: Ran 1 test in 0.697s
8:
8: OK
8: callbackMapSaved
8: end setUp
8: [INFO] [main-3]: sending signal 'SIGINT' to process[main-3]
8: [INFO] [autoware_lanelet2_map_visualizer-2]: sending signal 'SIGINT' to process[autoware_lanelet2_map_visualizer-2]
8: [INFO] [autoware_vector_map_tf_generator-1]: sending signal 'SIGINT' to process[autoware_vector_map_tf_generator-1]
8: [main-3] [INFO 1772607568.278149351] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
8: [autoware_lanelet2_map_visualizer-2] [INFO 1772607568.278356396] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
8: [autoware_vector_map_tf_generator-1] [INFO 1772607568.278673528] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
8: [INFO] [main-3]: process has finished cleanly [pid 3634642]
8: [INFO] [autoware_lanelet2_map_visualizer-2]: process has finished cleanly [pid 3634640]
8: [INFO] [autoware_vector_map_tf_generator-1]: process has finished cleanly [pid 3634638]
8: test_exit_code (autoware_static_centerline_generator.TestProcessOutput) ... ok
8:
8: ----------------------------------------------------------------------
8: Ran 1 test in 0.000s
8:
8: OK
8: -- run_test.py: return code 0
8: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case3_launch.test.py.xunit.xml'
8/10 Test #8: test_test_static_centerline_generator_path_generator_case3_launch.test.py ... Passed 4.36 sec
test 9
Start 9: test_test_static_centerline_generator_path_generator_case4_launch.test.py

9: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case4_launch.test.py.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/launch_test/test_test_static_centerline_generator_path_generator_case4_launch.test.py.txt" "--command" "/usr/bin/python3" "-m" "launch_testing.launch_test" "/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case4_launch.test.py" "--junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case4_launch.test.py.xunit.xml" "--package-name=autoware_static_centerline_generator"
9: Test timeout computed to be: 90
9: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator':
9: - /usr/bin/python3 -m launch_testing.launch_test /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case4_launch.test.py --junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case4_launch.test.py.xunit.xml --package-name=autoware_static_centerline_generator
9: [INFO] [launch]: All log files can be found below /home/arjunram/.ros/log/2026-03-04-15-59-28-766353-dpc2312004-3634788
9: [INFO] [launch]: Default logging verbosity is set to INFO
9: [INFO] [autoware_vector_map_tf_generator-1]: process started with pid [3634804]
9: [INFO] [autoware_lanelet2_map_visualizer-2]: process started with pid [3634806]
9: [INFO] [main-3]: process started with pid [3634808]
9: [main-3] [INFO 1772607569.025732567] [static_centerline_generator]: Loaded map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:423)
9: [main-3] [INFO 1772607569.025908964] [static_centerline_generator]: Published map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:427)
9: [autoware_lanelet2_map_visualizer-2] [INFO 1772607569.027914876] [lanelet2_map_visualization]: Map is loaded
9: [autoware_lanelet2_map_visualizer-2] (on_map_bin() at /home/arjunram/Workspace/autoware/src/core/autoware_core/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp:89)
9: [autoware_vector_map_tf_generator-1] [INFO 1772607569.028079882] [vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:1116.37, y:1238.29, z:100 (on_vector_map() at /home/arjunram/Workspace/autoware/src/universe/autoware_universe/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp:93)
9: [main-3] [INFO 1772607569.029780965] [static_centerline_generator]: Calculated check points. (plan_route() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:505)
9: [main-3] [WARN 1772607569.033397876] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
9: [main-3] [INFO 1772607569.038406877] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 1480 1487 1496 1503 1508 1521 1532 1541 1550 447 452 459 468 558 475 563 574 579 650 661 ] (getMainLanelets() at /home/arjunram/Workspace/autoware/src/core/autoware_core/planning/autoware_route_handler/src/route_handler.cpp:2281)
9: [main-3] [INFO 1772607569.136811051] [static_centerline_generator]: Calculated raw path with lane id and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:126)
9: [main-3] [INFO 1772607569.137303583] [static_centerline_generator]: Converted to path and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:136)
9: [main-3] [WARN 1772607569.340530954] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
9: [main-3] [WARN 1772607569.542923434] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
9: [main-3] [INFO 1772607571.335063926] [static_centerline_generator]: Smoothed trajectory and made it collision free with the road and published. (generate_centerline_with_optimization() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/optimization_trajectory_based_centerline.cpp:141)
9: [main-3]
9: [main-3] ############################################## Validation Results ##############################################
9: [main-3] 1. Footprints inside Lanelets:
9: [main-3] The generated centerline is outside the lanelet. (actual:0[m] <= threshold:0[m])
9: [main-3] Failed.
9: [main-3] 2. Curvature:
9: [main-3] The generated centerline has a too high steer angle. (threshold:40.107[deg] <= estimated:57.4699[deg])
9: [main-3] However, the estimated steer angle is not enough precise, so the result is conditional pass.
9: [main-3] Conditionally Passed.
9: [main-3]
9: [main-3] Result:
9: [main-3] Failed!
9: [main-3] ################################################################################################################
9: [main-3]
9: [main-3] [INFO 1772607571.339168843] [static_centerline_generator]: Validated the generated centerline. (validate_centerline() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:899)
9: [main-3] [INFO 1772607571.340493907] [static_centerline_generator]: Updated centerline in map. (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:915)
9: [main-3] [INFO 1772607571.344837417] [static_centerline_generator]: Saved map in /tmp/autoware_static_centerline_generator/lanelet2_map.osm (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:922)
9: test (autoware_static_centerline_generator.TestAutoOperation) ... ok
9:
9: ----------------------------------------------------------------------
9: Ran 1 test in 0.323s
9:
9: OK
9: start setUp
9: spin_once for self.traj_sub_node
9: callbackTrajectory
9: spin_once for self.map_saved_sub_node
9: callbackMapSaved
9: end setUp
9: [INFO] [main-3]: sending signal 'SIGINT' to process[main-3]
9: [INFO] [autoware_lanelet2_map_visualizer-2]: sending signal 'SIGINT' to process[autoware_lanelet2_map_visualizer-2]
9: [INFO] [autoware_vector_map_tf_generator-1]: sending signal 'SIGINT' to process[autoware_vector_map_tf_generator-1]
9: [main-3] [INFO 1772607572.265897871] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
9: [autoware_lanelet2_map_visualizer-2] [INFO 1772607572.266212192] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
9: [autoware_vector_map_tf_generator-1] [INFO 1772607572.266510527] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
9: [INFO] [autoware_lanelet2_map_visualizer-2]: process has finished cleanly [pid 3634806]
9: [INFO] [autoware_vector_map_tf_generator-1]: process has finished cleanly [pid 3634804]
9: [INFO] [main-3]: process has finished cleanly [pid 3634808]
9: test_exit_code (autoware_static_centerline_generator.TestProcessOutput) ... ok
9:
9: ----------------------------------------------------------------------
9: Ran 1 test in 0.000s
9:
9: OK
9: -- run_test.py: return code 0
9: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_path_generator_case4_launch.test.py.xunit.xml'
9/10 Test #9: test_test_static_centerline_generator_path_generator_case4_launch.test.py ... Passed 3.98 sec
test 10
Start 10: test_test_static_centerline_generator_gui_launch.test.py

10: Test command: /usr/bin/python3 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_gui_launch.test.py.xunit.xml" "--package-name" "autoware_static_centerline_generator" "--output-file" "/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/launch_test/test_test_static_centerline_generator_gui_launch.test.py.txt" "--command" "/usr/bin/python3" "-m" "launch_testing.launch_test" "/home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_gui_launch.test.py" "--junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_gui_launch.test.py.xunit.xml" "--package-name=autoware_static_centerline_generator"
10: Test timeout computed to be: 120
10: -- run_test.py: invoking following command in '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator':
10: - /usr/bin/python3 -m launch_testing.launch_test /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_gui_launch.test.py --junit-xml=/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_gui_launch.test.py.xunit.xml --package-name=autoware_static_centerline_generator
10: [INFO] [launch]: All log files can be found below /home/arjunram/.ros/log/2026-03-04-15-59-32-751733-dpc2312004-3634938
10: [INFO] [launch]: Default logging verbosity is set to INFO
10: [INFO] [autoware_vector_map_tf_generator-1]: process started with pid [3634954]
10: [INFO] [autoware_lanelet2_map_visualizer-2]: process started with pid [3634956]
10: [INFO] [main-3]: process started with pid [3634958]
10: [INFO] [centerline_updater_helper.py-4]: process started with pid [3634960]
10: [main-3] [INFO 1772607573.008054457] [static_centerline_generator]: Loaded map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:423)
10: [main-3] [INFO 1772607573.008282610] [static_centerline_generator]: Published map. (load_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:427)
10: [autoware_lanelet2_map_visualizer-2] [INFO 1772607573.010311681] [lanelet2_map_visualization]: Map is loaded
10: [autoware_lanelet2_map_visualizer-2] (on_map_bin() at /home/arjunram/Workspace/autoware/src/core/autoware_core/map/autoware_lanelet2_map_visualizer/src/lanelet2_map_visualization_node.cpp:89)
10: [autoware_vector_map_tf_generator-1] [INFO 1772607573.011467778] [vector_map_tf_generator]: broadcast static tf. map_frame:map, viewer_frame:viewer, x:1116.37, y:1238.29, z:100 (on_vector_map() at /home/arjunram/Workspace/autoware/src/universe/autoware_universe/map/autoware_map_tf_generator/src/vector_map_tf_generator_node.cpp:93)
10: [main-3] [INFO 1772607573.038279071] [rosbag2_storage]: Opened database '/home/arjunram/Workspace/autoware/install/autoware_static_centerline_generator/share/autoware_static_centerline_generator/test/data/bag_ego_trajectory.db3' for READ_ONLY. (open() at ./src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp:228)
10: [main-3] [INFO 1772607573.043962668] [static_centerline_generator]: Extracted centerline from the bag. (generate_centerline_with_bag() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/centerline_source/bag_ego_trajectory_based_centerline.cpp:67)
10: [main-3] [INFO 1772607573.044206114] [static_centerline_generator]: Calculated check points. (plan_route() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:505)
10: [main-3] [WARN 1772607573.048861384] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic. (rcl_logging_rosout_init_publisher_for_node() at ./src/rcl/logging_rosout.c:162)
10: [main-3] [INFO 1772607573.053748203] [route_handler]: getMainLanelets: lanelet_sequence = [ids: 661 670 675 686 780 73 432 86 201 ] (getMainLanelets() at /home/arjunram/Workspace/autoware/src/core/autoware_core/planning/autoware_route_handler/src/route_handler.cpp:2281)
10: [centerline_updater_helper.py-4] QLayout: Attempting to add QLayout "" to CenterlineUpdaterWidget "MainWindow", which already has a layout
10: [centerline_updater_helper.py-4] QLayout: Attempting to add QLayout "" to CenterlineUpdaterWidget "MainWindow", which already has a layout
10: test (autoware_static_centerline_generator.TestGuiOperation) ... start setUp
10: spin_once for self.traj_sub_node
10: callbackTrajectory
10: spin_once for self.map_saved_sub_node
10: end setUp
10: callbackTrajectory
10: [main-3]
10: [main-3] ############################################## Validation Results ##############################################
10: [main-3] 1. Footprints inside Lanelets:
10: [main-3] The generated centerline is inside the lanelet. (threshold:0[m] < actual:1.14307[m])
10: [main-3] Passed.
10: [main-3] 2. Curvature:
10: [main-3] The generated centerline has no high steer angle. (estimated:21.894[deg] < threshold:40.107[deg])
10: [main-3] Passed.
10: [main-3]
10: [main-3] Result:
10: [main-3] Passed!
10: [main-3] ################################################################################################################
10: [main-3]
10: [main-3] [INFO 1772607636.087887392] [static_centerline_generator]: Validated the generated centerline. (validate_centerline() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:899)
10: [main-3] [INFO 1772607639.087078622] [static_centerline_generator]: Updated centerline in map. (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:915)
10: [main-3] [INFO 1772607639.090530048] [static_centerline_generator]: Saved map in /tmp/autoware_static_centerline_generator/lanelet2_map.osm (save_map() at /home/arjunram/Workspace/autoware/src/tools/planning/autoware_static_centerline_generator/src/static_centerline_generator_node.cpp:922)
10: ok
10:
10: ----------------------------------------------------------------------
10: Ran 1 test in 63.351s
10:
10: OK
10: callbackMapSaved
10: [INFO] [centerline_updater_helper.py-4]: sending signal 'SIGINT' to process[centerline_updater_helper.py-4]
10: [INFO] [main-3]: sending signal 'SIGINT' to process[main-3]
10: [INFO] [autoware_lanelet2_map_visualizer-2]: sending signal 'SIGINT' to process[autoware_lanelet2_map_visualizer-2]
10: [INFO] [autoware_vector_map_tf_generator-1]: sending signal 'SIGINT' to process[autoware_vector_map_tf_generator-1]
10: [centerline_updater_helper.py-4] Traceback (most recent call last):
10: [centerline_updater_helper.py-4] File "/home/arjunram/Workspace/autoware/install/autoware_static_centerline_generator/lib/autoware_static_centerline_generator/centerline_updater_helper.py", line 207, in
10: [centerline_updater_helper.py-4] main()
10: [centerline_updater_helper.py-4] File "/home/arjunram/Workspace/autoware/install/autoware_static_centerline_generator/lib/autoware_static_centerline_generator/centerline_updater_helper.py", line 203, in main
10: [centerline_updater_helper.py-4] rclpy.spin_once(node, timeout_sec=0.01)
10: [centerline_updater_helper.py-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/init.py", line 206, in spin_once
10: [centerline_updater_helper.py-4] executor.spin_once(timeout_sec=timeout_sec)
10: [centerline_updater_helper.py-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 739, in spin_once
10: [centerline_updater_helper.py-4] self._spin_once_impl(timeout_sec)
10: [centerline_updater_helper.py-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 728, in _spin_once_impl
10: [centerline_updater_helper.py-4] handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
10: [centerline_updater_helper.py-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 711, in wait_for_ready_callbacks
10: [centerline_updater_helper.py-4] return next(self._cb_iter)
10: [centerline_updater_helper.py-4] File "/opt/ros/humble/local/lib/python3.10/dist-packages/rclpy/executors.py", line 608, in _wait_for_ready_callbacks
10: [centerline_updater_helper.py-4] wait_set.wait(timeout_nsec)
10: [centerline_updater_helper.py-4] KeyboardInterrupt
10: [main-3] [INFO 1772607639.281212375] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
10: [autoware_lanelet2_map_visualizer-2] [INFO 1772607639.281301975] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
10: [autoware_vector_map_tf_generator-1] [INFO 1772607639.281539232] [rclcpp]: signal_handler(signum=2) (signal_handler() at ./src/rclcpp/signal_handler.cpp:71)
10: [INFO] [autoware_lanelet2_map_visualizer-2]: process has finished cleanly [pid 3634956]
10: [INFO] [autoware_vector_map_tf_generator-1]: process has finished cleanly [pid 3634954]
10: [INFO] [main-3]: process has finished cleanly [pid 3634958]
10: [ERROR] [centerline_updater_helper.py-4]: process has died [pid 3634960, exit code -2, cmd '/home/arjunram/Workspace/autoware/install/autoware_static_centerline_generator/lib/autoware_static_centerline_generator/centerline_updater_helper.py --ros-args -r __node:=centerline_updater_helper -p use_sim_time:=False -p wheel_radius:=0.383 -p wheel_width:=0.235 -p wheel_base:=2.79 -p wheel_tread:=1.64 -p front_overhang:=1.0 -p rear_overhang:=1.1 -p left_overhang:=0.128 -p right_overhang:=0.128 -p vehicle_height:=2.5 -p max_steer_angle:=0.7'].
10:
10: ----------------------------------------------------------------------
10: Ran 0 tests in 0.000s
10:
10: OK
10: -- run_test.py: return code 0
10: -- run_test.py: verify result file '/home/arjunram/Workspace/autoware/build/autoware_static_centerline_generator/test_results/autoware_static_centerline_generator/test_test_static_centerline_generator_gui_launch.test.py.xunit.xml'
10/10 Test #10: test_test_static_centerline_generator_gui_launch.test.py .................... Passed 67.03 sec

100% tests passed, 0 tests failed out of 10

Label Time Summary:
copyright = 0.58 secproc (1 test)
cppcheck = 0.14 secproc (1 test)
launch_test = 87.33 secproc (6 tests)
lint_cmake = 0.13 secproc (1 test)
linter = 1.25 secproc (4 tests)
xmllint = 0.39 secproc (1 test)

Total Test time (real) = 88.59 sec

Finished <<< autoware_static_centerline_generator [1min 32s]

Summary: 1 package finished [1min 33s]

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

PanConChicharron · 2026-03-06T08:10:26Z

Test fails due to:

Details

Traceback (most recent call last):
8: File "/__w/autoware_universe/autoware_universe/dependency_ws/tools/autoware_tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case3_launch.test.py", line 68, in test
8: self.validate_map_centerline_lane_ids(
8: File "/__w/autoware_universe/autoware_universe/dependency_ws/tools/autoware_tools/planning/autoware_static_centerline_generator/test/utils/test_utils.py", line 113, in validate_map_centerline_lane_ids
8: self.assertEqual(sorted(map_centerline_lane_ids), sorted(expected_map_centerline_lane_ids))
8: AssertionError: Lists differ: ['661', '670', '675'] != ['1085', '1102', '1118', '1127', '1134', '1[237 chars]927']
8:
8: First differing element 0:
8: '661'
8: '1085'
8:
8: Second list contains 35 additional elements.
8: First extra element 3:
8: '1127'
8:
8: - ['661', '670', '675']
8: + ['1085',
8: + '1102',
8: + '1118',
8: + '1127',
8: + '1134',
8: + '1211',
8: + '1216',
8: + '1221',
8: + '1235',
8: + '1284',
8: + '1327',
8: + '1386',
8: + '1412',
8: + '1423',
8: + '1434',
8: + '1443',
8: + '1448',
8: + '1459',
8: + '1464',
8: + '1469',
8: + '1480',
8: + '201',
8: + '432',
8: + '661',
8: + '670',
8: + '675',
8: + '686',
8: + '73',
8: + '780',
8: + '86',
8: + '890',
8: + '895',
8: + '900',
8: + '905',
8: + '910',
8: + '915',
8: + '922',
8: + '927']
8:
8: ----------------------------------------------------------------------
8: Ran 1 test in 9.195s
8:
8: FAILED (failures=1)

However, the test runs locally.

test.txt

PanConChicharron · 2026-03-06T08:30:18Z

Test fails due to:

Details
Details

Traceback (most recent call last): 8: File "/__w/autoware_universe/autoware_universe/dependency_ws/tools/autoware_tools/planning/autoware_static_centerline_generator/test/test_static_centerline_generator_path_generator_case3_launch.test.py", line 68, in test 8: self.validate_map_centerline_lane_ids( 8: File "/__w/autoware_universe/autoware_universe/dependency_ws/tools/autoware_tools/planning/autoware_static_centerline_generator/test/utils/test_utils.py", line 113, in validate_map_centerline_lane_ids 8: self.assertEqual(sorted(map_centerline_lane_ids), sorted(expected_map_centerline_lane_ids)) 8: AssertionError: Lists differ: ['661', '670', '675'] != ['1085', '1102', '1118', '1127', '1134', '1[237 chars]927'] 8: 8: First differing element 0: 8: '661' 8: '1085' 8: 8: Second list contains 35 additional elements. 8: First extra element 3: 8: '1127' 8: 8: - ['661', '670', '675'] 8: + ['1085', 8: + '1102', 8: + '1118', 8: + '1127', 8: + '1134', 8: + '1211', 8: + '1216', 8: + '1221', 8: + '1235', 8: + '1284', 8: + '1327', 8: + '1386', 8: + '1412', 8: + '1423', 8: + '1434', 8: + '1443', 8: + '1448', 8: + '1459', 8: + '1464', 8: + '1469', 8: + '1480', 8: + '201', 8: + '432', 8: + '661', 8: + '670', 8: + '675', 8: + '686', 8: + '73', 8: + '780', 8: + '86', 8: + '890', 8: + '895', 8: + '900', 8: + '905', 8: + '910', 8: + '915', 8: + '922', 8: + '927'] 8: 8: ---------------------------------------------------------------------- 8: Ran 1 test in 9.195s 8: 8: FAILED (failures=1)

However, the test runs locally.

test.txt

Re-ran on autoware_tools main branch:
test_main.txt

Still succeeds locally.

soblin · 2026-03-08T06:33:31Z

@PanConChicharron for disabling clang-tidy for artifact source files, first modify this clang-tidy action to ignore

artifacts/ (auto-generated headers and source files)
examples/ (for other packages)
directories.

most easy approach is to place all source files under artifacts/.

I suggest the appraoch:

build the artifacts as a shared library. At the same time, you define another interface standalone header library that does not include the auto-generated headers. Only the source files for the shared library includes auto-generated headers
You use that interface header for your project. You don't need to include the auto-generated headers from it because it is embedded inside the shared library

PanConChicharron · 2026-03-09T01:03:29Z

@PanConChicharron for disabling clang-tidy for artifact source files, first modify this clang-tidy action to ignore

artifacts/ (auto-generated headers and source files)

examples/ (for other packages)
directories.

most easy approach is to place all source files under artifacts/.

I suggest the appraoch:

build the artifacts as a shared library. At the same time, you define another interface standalone header library that does not include the auto-generated headers. Only the source files for the shared library includes auto-generated headers

You use that interface header for your project. You don't need to include the auto-generated headers from it because it is embedded inside the shared library

Sobue-san, thank you for your suggestion!

I'd like to try this in a follow-up PR if that is okay, since the priority right now is to get this PR merged as soon as possible.

Hope that's okay!

TaikiYamada4

LGTM!

sasakisasaki · 2026-03-12T07:41:30Z

@PanConChicharron Sorry if I'm missing something. Could you describe the "How was this PR tested" in this PR's description? Because I cannot see if the required CIs succeeded: usually we can see the result of CIs via button "View details" in the attached picture. But I cannot find such the button.

Also, please fix the "Interface changes" in PR description as this PR adds some publishers. Thank you in advance for your cooperation.

PanConChicharron · 2026-03-13T03:02:27Z

@PanConChicharron Sorry if I'm missing something. Could you describe the "How was this PR tested" in this PR's description? Because I cannot see if the required CIs succeeded: usually we can see the result of CIs via button "View details" in the attached picture. But I cannot find such the button.

Also, please fix the "Interface changes" in PR description as this PR adds some publishers. Thank you in advance for your cooperation.

I have mentioned that CI was run and attached a link to the results as well.

sasakisasaki · 2026-03-13T03:44:39Z

@PanConChicharron

that CI was run

As far as I see, you mentioned about tests on your local environment. Did you confirm the result of required CI build that runs on the Github action?
For example, did you check the CI results as like the attached picture? The attached picture is that of another PR, not this PR.

PanConChicharron · 2026-03-13T04:53:45Z

@PanConChicharron

that CI was run

As far as I see, you mentioned about tests on your local environment. Did you confirm the result of required CI build that runs on the Github action? For example, did you check the CI results as like the attached picture? The attached picture is that of another PR, not this PR.

Yes! The CI tests were a required step before merge could happen. So indeed, they were run.

Which is what makes our current build errors even more confusing.

github-project-automation Bot added this to Software Working Group Oct 10, 2025

github-project-automation Bot moved this to To Triage in Software Working Group Oct 10, 2025

github-actions Bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Oct 10, 2025

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PanConChicharron added 2 commits March 4, 2026 09:27

Merge branch 'main' into arjun.ram/T4DEV-9960

b8af3f1

fixes for ament

80ec4c0

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

PanConChicharron and others added 10 commits March 6, 2026 10:15

changes for CI

e84634f

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

fix for clang

277e228

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

spell-check

51658b6

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

Merge branch 'main' into arjun.ram/T4DEV-9960

9f89b99

changed stub

0320181

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

removed guards

00e5e2d

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

fix for build CI

dbea00e

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

changes for build-test-differential

5a4db50

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

changes for build-test-differential

e86e2cb

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

fix

94799b2

Signed-off-by: Arjun Jagdish Ram <arjun.ram@tier4.jp>

Merge branch 'main' into arjun.ram/T4DEV-9960

1324f1d

TaikiYamada4 approved these changes Mar 10, 2026

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takayuki5168 approved these changes Mar 10, 2026

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Kazunori-Nakajima mentioned this pull request Mar 11, 2026

fix(static_centerline_generator): link error to acados autowarefoundation/autoware_tools#370

Open

PanConChicharron mentioned this pull request Mar 13, 2026

feat(autoware_path_optimizer): reintroducing acados MPT along with changes to linking to acados #12300

Merged

This was referenced May 2, 2026

chore: bump version to 0.51.0 #12543

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chore: bump version to 1.8.0 for humble #12544

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feat(autoware_path_optimizer): new path optimizer#11479

feat(autoware_path_optimizer): new path optimizer#11479
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Total Test time (real) = 88.59 sec

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Description

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Interface changes

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Total Test time (real) = 88.59 sec

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