Required information:

• Operating system and version: Ubuntu 18.04
  • <!-- OS and version (e.g. Ubuntu 18.04, MacOS 10.14, Windows 10 build 1817) -->
• Autoware installation type: Source
  • <!-- How did you install Autoware? From source, from binaries, Docker, etc. Link to a guide if you followed one. -->
• Autoware version or commit hash : d392ba8d54fe4a22c89eb60c6f0884fa12348af4
  • <!-- If from binaries or docker, give the version. If from source, give the output of git rev-parse HEAD or the repos file you use -->
• ROS distribution and version: Melodic
  • <!-- State the name of the ROS distribution you are using, and if applicable a patch version -->
• ROS installation type: Installed with apt-get.
  • <!-- How did you install ROS? From source, from binaries, Docker, etc. Link to a guide if you followed one. -->
• Package or library, if applicable: astar_avoid
  • <!-- e.g. velodyne_driver, or N/A -->

Description of the bug

Using LGSVL sim, astar avoid crashes in avoidance_mode when stopping.

Steps to reproduce the bug

• Load map + get the car localized with ndt_matching
• Load waypoints and put obstacles on the way
• Detects objects with lidareuclideanclusterdetect + used them in costmapgenerator_option to generate a costmap.
• Start waypointloader, waypointreplanner, waypointmarkerpublisher, lanerule, lanestop and lane_select.
• Start astaravoid in avoidancemode, astarnavi, velocityset, twistfilter and purepursuit.

Error message :

[ INFO] [1582019551.725842839]: RELAYING -> STOPPING, Decelerate for stopping                                                                                                                                                                 

terminate called after throwing an instance of 'std::bad_alloc'                                                                                                                                                                               
  what():  std::bad_alloc                                                                                                                                                                                                                     

[astar_avoid-1] process has died [pid 7504, exit code -6, cmd /home/maxandre/autoware.ai/install/waypoint_planner/lib/waypoint_planner/astar_avoid costmap:=semantics/costmap_generator/occupancy_grid __name:=astar_avoid __log:=/home/maxand
re/.ros/log/e7f5412c-5230-11ea-9e82-9cb6d0c541d5/astar_avoid-1.log].                                                                                                                                                                          
log file: /home/maxandre/.ros/log/e7f5412c-5230-11ea-9e82-9cb6d0c541d5/astar_avoid-1*.log                                                                                                                                                     

Expected behavior

The car should detect the obstacle, slow down, replan a new way around it, and follow it.

Actual behavior

Astar_avoid crashes after an object is detected

You can find a rosbag of what is happening here

Do you have any idea how to correct this ?

• Does velocity_set has other uses than just stopping when an obstacle is detected ?
• Could velocity_set work with an occupancy grid?
• How do I use astaravoid in `avoidancemode` and what nodes are needed ?
• Is it possible to make astaravoid only stop when there is an obstacle ? Just like velocityset