Hsinchu city (Taiwan) Map Bug - Lane=1720 is unreachable from any other lane on the map

[lethal233]

Describe the bug

When I place the ego car on lane=1718 on the Hsinchu city (Taiwan) map and set the destination point to somewhere on lane=1720 , the ego car will not move during the simulation. And the simulation task failed.

Please see the TW map below, intuitively, according to the map visualization, the lane=1720 and lane=1721 should be reachable from lane=1718 (lane=1720 and lane=1721 are successors of lane=1718).

I also tested this scenario on Tier4 Scenario Editor. It failed too.

To Reproduce
Steps to reproduce the behavior:

1. Launch Autoware through docker
2. Run the scenario 1720.yml (at the end of this report), which uses Hsinchu city (Taiwan) map. I downloaded it from here

ros2 launch scenario_test_runner scenario_test_runner.launch.py \
    architecture_type:=awf/universe/20230906 \
    record:=false \
    scenario:=1720.yml \
    sensor_model:=sample_sensor_kit \
    vehicle_model:=sample_vehicle

3. Simulation runtime log:

[openscenario_interpreter_node-3] [INFO] [1714688055.375044352] [simulation.openscenario_interpreter]: InternalError: Requested the service "/api/routing/set_route_points" 1 times, but was unsuccessful.
[scenario_test_runner.py-1] [INFO] [1714688055.379492981] [simulation.scenario_test_runner]: finish execution

4. See the simulation result log:

<?xml version="1.0"?>
<testsuites name="/tmp/scenario_test_runner" failures="0" errors="1" tests="1">
  <testsuite name="1720" failures="0" errors="1" tests="1">
    <testcase name="1720_0">
      <error type="InternalError" message="Requested the service &quot;/api/routing/set_route_points&quot; 1 times, but was not successful." />
    </testcase>
  </testsuite>
</testsuites>

Expected behavior
Expect routing to find valid route from lane=1718 to lane=1720

Root Cause
I think the reason behind this bug is:

1. The end point of lane=1718's left bound != the start point of lane=1720's left bound
2. The end point of lane=1718's right bound != the start point of lane=1720's right bound

I use your lanelet2 extension python library to get this:

lane=1718 left bound:  [id: 1685, inverted point ids: 1688, 1687, 1686, 1684, 1683, 1708, 1699]
lane=1718 right bound:  [id: 1679 point ids: 1677, 1678, 1680, 1681, 1717, 1694]
lane=1720 left bound:  [id: 1704, inverted point ids: 1708, 1707, 1706, 1705, 1703, 1702, 1656]
lane=1720 right bound:  [id: 1711, inverted point ids: 1717, 1716, 1715, 1714, 1713, 1712, 1710, 1709, 1658]

I tried to add point=1699 to lane=1720's left bound, and point=1694 to lane=1720's right bound. The modified version is like this:

And I did the simulation again, it worked. The ego car can depart from lane=1718 and arrive at lane=1720:

Desktop (please complete the following information):

• Ubuntu 22.04
• Autoware
• Chrome

Scenario file

ScenarioModifiers:
  ScenarioModifier:
    - name: __tier4_modifier_Vn
      start: 8.4
      step: 5.6
      stop: 8.4
OpenSCENARIO:
  FileHeader:
    revMajor: 1
    revMinor: 1
    date: '2024-05-02T09:21:08.463Z'
    description: ''
    author: Hiroshi Igata
  ParameterDeclarations:
    ParameterDeclaration:
      - name: __ego_dimensions_length__
        parameterType: double
        value: '0'
      - name: __ego_dimensions_width__
        parameterType: double
        value: '0'
      - name: __ego_dimensions_height__
        parameterType: double
        value: '0'
      - name: __ego_center_x__
        parameterType: double
        value: '0'
      - name: __ego_center_y__
        parameterType: double
        value: '0'
      - name: __ego_center_z__
        parameterType: double
        value: '0'
      - name: Vn
        parameterType: double
        value: __tier4_modifier_Vn
  CatalogLocations:
    CatalogLocation: []
  RoadNetwork:
    LogicFile:
      filepath: Hsinchu city (Taiwan).osm
    SceneGraphFile:
      filepath: Hsinchu city (Taiwan).pcd
    TrafficSignals:
      TrafficSignalController: []
  Entities:
    ScenarioObject:
      - name: ego
        Vehicle:
          name: ''
          vehicleCategory: car
          BoundingBox:
            Center:
              x: 1.355
              y: 0
              z: 1.25
            Dimensions:
              length: 4.77
              width: 1.83
              height: 2.5
          Performance:
            maxSpeed: 50
            maxAcceleration: INF
            maxDeceleration: INF
          Axles:
            FrontAxle:
              maxSteering: 0.5236
              wheelDiameter: 0.78
              trackWidth: 1.63
              positionX: 1.385
              positionZ: 0.39
            RearAxle:
              maxSteering: 0.5236
              wheelDiameter: 0.78
              trackWidth: 1.63
              positionX: 0
              positionZ: 0.39
          Properties:
            Property: []
        ObjectController:
          Controller:
            name: ''
            Properties:
              Property:
                - name: isEgo
                  value: 'true'
  Storyboard:
    Init:
      Actions:
        Private:
          - entityRef: ego
            PrivateAction:
              - TeleportAction:
                  Position:
                    LanePosition:
                      roadId: ''
                      laneId: '1718'
                      s: 43.8376
                      offset: 0.4681
                      Orientation:
                        type: relative
                        h: 0
                        p: -0.0
                        r: 0
              - RoutingAction:
                  AcquirePositionAction:
                    Position:
                      LanePosition:
                        roadId: ''
                        laneId: '1720'
                        s: 21.508
                        offset: 0.2496
                        Orientation:
                          type: relative
                          h: 0
                          p: -0.0
                          r: 0
    Story:
      - name: ''
        Act:
          - name: _EndCondition
            ManeuverGroup:
              - maximumExecutionCount: 1
                name: ''
                Actors:
                  selectTriggeringEntities: false
                  EntityRef:
                    - entityRef: ego
                Maneuver:
                  - name: ''
                    Event:
                      - name: ''
                        priority: parallel
                        StartTrigger:
                          ConditionGroup:
                            - Condition:
                                - name: ''
                                  delay: 0
                                  conditionEdge: none
                                  ByEntityCondition:
                                    TriggeringEntities:
                                      triggeringEntitiesRule: any
                                      EntityRef:
                                        - entityRef: ego
                                    EntityCondition:
                                      ReachPositionCondition:
                                        Position:
                                          LanePosition:
                                            roadId: ''
                                            laneId: '1720'
                                            s: 21.508
                                            offset: 0.2496
                                            Orientation:
                                              type: relative
                                              h: 0
                                              p: -0.0
                                              r: 0
                                        tolerance: 1
                                - name: ''
                                  delay: 0
                                  conditionEdge: none
                                  ByEntityCondition:
                                    TriggeringEntities:
                                      triggeringEntitiesRule: any
                                      EntityRef:
                                        - entityRef: ego
                                    EntityCondition:
                                      ReachPositionCondition:
                                        Position:
                                          LanePosition:
                                            roadId: ''
                                            laneId: '1720'
                                            s: 21.508
                                            offset: 0.2496
                                            Orientation:
                                              type: relative
                                              h: 0
                                              p: -0.0
                                              r: 0
                                        tolerance: 1
                        Action:
                          - name: ''
                            UserDefinedAction:
                              CustomCommandAction:
                                type: exitSuccess
                      - name: ''
                        priority: parallel
                        StartTrigger:
                          ConditionGroup:
                            - Condition:
                                - name: ''
                                  delay: 0
                                  conditionEdge: none
                                  ByValueCondition:
                                    SimulationTimeCondition:
                                      value: 180
                                      rule: greaterThan
                        Action:
                          - name: ''
                            UserDefinedAction:
                              CustomCommandAction:
                                type: exitFailure
            StartTrigger:
              ConditionGroup:
                - Condition:
                    - name: ''
                      delay: 0
                      conditionEdge: none
                      ByValueCondition:
                        SimulationTimeCondition:
                          value: 0
                          rule: greaterThan
    StopTrigger:
      ConditionGroup: []