Cannot Set a New Goal After Path Completion in Autoware RViz #10909
Description
Checklist
- I've read the contribution guidelines.
- I've searched other issues and no duplicate issues were found.
- I'm convinced that this is not my fault but a bug.
Description
Hi Autoware Team,
I'm encountering an issue in Autoware when using RViz to set navigation goals. I can successfully set the first end goal, and the vehicle follows the path and completes it as expected. However, after the first path is completed, I'm unable to set a new end goal — RViz does not respond, and the vehicle does not plan a new path.
I have attached a video recording that demonstrates this issue for clarity.
Video Proof : Watch here
Expected behavior
After the vehicle completes the first navigation goal, I should be able to set a new goal in RViz, and the system should immediately:
Accept the goal
Plan a new path
Start executing the new path automatically
Actual behavior
After the first goal is completed:
I can set a new goal in RViz, but no new path is generated.
The system appears idle or unresponsive after the first goal is reached.
However, if I manually move the vehicle forward (about 1–2 meters using remote/manual control), then the new path gets generated, and execution resumes.
Steps to reproduce
Launch Autoware and RViz with all necessary modules (e.g., localization, planning, control, and vehicle interface).
Set an initial end goal in RViz using the "2D Nav Goal" tool.
The vehicle follows the planned path and reaches the goal successfully.
After reaching the goal, attempt to set a new end goal using the same method in RViz.
Observe that no new path is generated.
Manually move the vehicle forward 1–2 meters using remote/manual driving.
Observe that a new path is then generated, and planning resumes.
Versions
OS - ubuntu 18.04
ROS1
Autoware.ai
Possible causes
No response
Additional context
After setting a second goal, if I manually move the vehicle forward (using remote/manual control) for about 1–2 meters, the path to the new goal is then generated.
The issue is demonstrated in this short clip:
Watch the video on Google Drive