Platform is generating zigzag weird trajectory that's not on the road

[MishkaMN]

Are you Saxton Lab/Leidos employee?

Yes

Summary

It mostly looked like the platform was not able to fit a spline to the road because it was generating trajectories that is NOT on the road. See the screenshot below:

This happened without any object avoidance or lcI_strategic, but MAP message was being broadcasted in Town05.
This indicates it is most likely due to the osm map. There are multiple points at the end of the lanelet in same location, which would make spline fitting impossible

Version

4.5.0 (Current)

Expected Behavior

Should plan straight trajectory

Actual Behavior

See the picture

Steps to Reproduce the Actual Behavior

Run Town05 in cdasim

Related Work

No response