MPT 'std::bad_alloc , [MPT] Optimization failed due to maximum iterations reached，nullopt since could not solve qp

[JokerWhy233]

Hi , when i use mpt , we found
[WARN] [osqp_interface]: [MPT] Optimization failed due to maximum iterations reached
[WARN] [path_optimizer_node.mpt_optimizer]: return std::nullopt since could not solve qp

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

How should I handle this issue?

---

log is :
INFO] [launch]: All log files can be found below /root/.ros/log/2025-08-30-17-26-43-507600-slave-69
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [path_optimizer_node-1]: process started with pid [71]
[path_optimizer_node-1] [INFO] [1756546099.254101159] [path_optimizer_node.replan_checker]: Replan with resetting optimization since path goal changed.
[path_optimizer_node-1] [INFO] [1756546261.234521554] [path_optimizer_node.replan_checker]: Replan with resetting optimization since path goal changed.
[path_optimizer_node-1] [INFO] [1756546261.922303584] [path_optimizer_node.replan_checker]: Replan with resetting optimization since path shape around ego changed.
[path_optimizer_node-1] [INFO] [1756546612.738859932] [path_optimizer_node.replan_checker]: Replan with resetting optimization since path goal changed.
[path_optimizer_node-1] [INFO] [1756546613.690996545] [path_optimizer_node.replan_checker]: Replan with resetting optimization since path shape around ego changed.
[path_optimizer_node-1] [INFO] [1756546818.928677431] [path_optimizer_node.replan_checker]: Replan with resetting optimization since path goal changed.
[path_optimizer_node-1] [INFO] [1756546819.847629051] [path_optimizer_node.replan_checker]: Replan with resetting optimization since path shape around ego changed.
[path_optimizer_node-1] [WARN] [1756546951.021390710] [osqp_interface]: [MPT] Optimization failed due to maximum iterations reached
[path_optimizer_node-1] [WARN] [1756546951.023582987] [path_optimizer_node.mpt_optimizer]: return std::nullopt since could not solve qp
[path_optimizer_node-1] terminate called after throwing an instance of 'std::bad_alloc'
[path_optimizer_node-1] what(): std::bad_alloc
[path_optimizer_node-1] Stack trace (most recent call last):
[path_optimizer_node-1] #20 Object "/home/autoware/install/autoware_path_optimizer/lib/autoware_path_optimizer/path_optimizer_node", at 0xaaaab324464b, in start
[path_optimizer_node-1] #19 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff84e1ce0f, in libc_start_main
[path_optimizer_node-1] #18 Object "/home/autoware/install/autoware_path_optimizer/lib/autoware_path_optimizer/path_optimizer_node", at 0xaaaab3243b9f, in main
[path_optimizer_node-1] #17 Object "/opt/ros/galactic/lib/librclcpp.so", at 0xffff852d720b, in rclcpp::executors::SingleThreadedExecutor::spin()
[path_optimizer_node-1] #16 Object "/opt/ros/galactic/lib/librclcpp.so", at 0xffff852cf923, in rclcpp::Executor::execute_any_executable(rclcpp::AnyExecutable&)
[path_optimizer_node-1] #15 Object "/opt/ros/galactic/lib/librclcpp.so", at 0xffff852cf0ef, in rclcpp::Executor::execute_subscription(std::shared_ptrrclcpp::SubscriptionBase)
[path_optimizer_node-1] #14 Object "/opt/ros/galactic/lib/librclcpp.so", at 0xffff852ce503, in rclcpp::Executor::add_callback_groups_from_nodes_associated_to_executor()
[path_optimizer_node-1] #13 Object "/home/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer .so", at 0xffff832d3d13, in rclcpp::Subscription<autoware_planning_msgs::msg::Path<std::allocator >, std::allocator, rclcpp::message_memory_strategy::MessageMemoryStrategy<autoware_planning_msgs::msg::Path<std::allocator >, std::allocator > >::handle_message(std::shared_ptr&, rclcpp::MessageInfo const&)
[path_optimizer_node-1] #12 Object "/home/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer.so", at 0xffff832a0c77, in std::detail::variant::gen_vtable_impl<true, std::detail::variant::Multi_array<void (*)(rclcpp::AnySubscriptionCallback<autoware_planning_msgs::msg::Path<std::allocator >, std::allocator >::dispatch(std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}&&, std::variant<std::function<void (autoware_planning_msgs::msg::Path<std::allocator > const&)>, std::variant<void (autoware_planning_msgs::msg::Path<std::allocator > const, rclcpp::MessageInfo const&)>, std::variant<void (std::unique_ptr<autoware_planning_msgs::msg::Path<std::allocator >, std::default_delete<autoware_planning_msgs::msg::Path<std::allocator > > >)>, std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path<std::allocator > >, rclcpp::MessageInfo const&)>, std::variant<void (std::shared_ptrstd::function)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path<std::allocator > >, rclcpp::MessageInfo const&)>, rclcpp::MessageInfo const&)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path<std::allocator > >, rclcpp::MessageInfo const&)> const&)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path<std::allocator > >, rclcpp::MessageInfo const&)> const, rclcpp::MessageInfo const&)>, std::variant<void (std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > >)>, std::variant<void (std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > >, rclcpp::MessageInfo const&)> >&)>, std::tuple<std::variant<std::function<void (autoware_planning_msgs::msg::Path_<std::allocator > const&)>, std::variant<void (autoware_planning_msgs::msg::Path_<std::allocator > const, rclcpp::MessageInfo const&)>, std::variant<void (std::unique_ptr<autoware_planning_msgs::msg::Path_<std::allocator >, std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > > >)>, std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)>, std::variant<void (std::shared_ptrstd::function)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)>, rclcpp::MessageInfo const&)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)> const&)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)> const, rclcpp::MessageInfo const&)>, std::variant<void (std::shared_ptr<autoware_planning_msgs::msg::Path_<std::allocator > >)>, std::variant<void (std::shared_ptr<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)> > >, std::integer_sequence<unsigned long, 4ul> >::visit_invoke(rclcpp::AnySubscriptionCallback<autoware_planning_msgs::msg::Path<std::allocator >, std::allocator >::dispatch(std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > >, rclcpp::MessageInfo const&)::{lambda(auto:1&&)#1}, std::variant<std::function<void (autoware_planning_msgs::msg::Path_<std::allocator > const&)>, std::variant<void (autoware_planning_msgs::msg::Path_<std::allocator > const, rclcpp::MessageInfo const&)>, std::variant<void (std::unique_ptr<autoware_planning_msgs::msg::Path_<std::allocator >, std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > > >)>, std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)>, std::variant<void (std::shared_ptrstd::function)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)>, rclcpp::MessageInfo const&)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)> const&)>, std::variant<void (std::variant<void (std::default_delete<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)> const, rclcpp::MessageInfo const&)>, std::variant<void (std::shared_ptr<autoware_planning_msgs::msg::Path_<std::allocator > >)>, std::variant<void (std::shared_ptr<autoware_planning_msgs::msg::Path_<std::allocator > >, rclcpp::MessageInfo const&)> >)
[path_optimizer_node-1] #11 Object "/home/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer.so", at 0xffff8329d41f, in std::Function_handler<void (std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > const>), std::Bind<void (autoware::path_optimizer::PathOptimizer::(autoware::path_optimizer::PathOptimizer, std::Placeholder<1>))(std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > const>)> >::M_invoke(std::Any_data const&, std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > const>&&)
[path_optimizer_node-1] #10 Object "/home/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer.so", at 0xffff83284227, in autoware::path_optimizer::PathOptimizer::onPath(std::shared_ptr<autoware_planning_msgs::msg::Path<std::allocator > const>)
[path_optimizer_node-1] #9 Object "/home/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer.so", at 0xffff832838a7, in autoware::path_optimizer::PathOptimizer::generateOptimizedTrajectory(autoware::path_optimizer::PlannerData const&)
[path_optimizer_node-1] #8 Object "/home/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer.so", at 0xffff83282eb7, in autoware::path_optimizer::PathOptimizer::optimizeTrajectory(autoware::path_optimizer::PlannerData const&)
[path_optimizer_node-1] #7 Object "/home/autoware/install/autoware_path_optimizer/lib/libautoware_path_optimizer.so", at 0xffff8329bbcf, in std::vector<autoware_planning_msgs::msg::TrajectoryPoint<std::allocator >, std::allocator<autoware_planning_msgs::msg::TrajectoryPoint_<std::allocator > > >::vector(std::vector<autoware_planning_msgs::msg::TrajectoryPoint_<std::allocator >, std::allocator<autoware_planning_msgs::msg::TrajectoryPoint_<std::allocator > > > const&)
[path_optimizer_node-1] #6 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff8502d9fb, in std::__throw_bad_alloc()
[path_optimizer_node-1] #5 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff85032573, in __cxa_throw
[path_optimizer_node-1] #4 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff8503227f, in std::terminate()
[path_optimizer_node-1] #3 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff8503221b, in std::rethrow_exception(std::__exception_ptr::exception_ptr)
[path_optimizer_node-1] #2 Object "/lib/aarch64-linux-gnu/libstdc++.so.6", at 0xffff850348cb, in __gnu_cxx::__verbose_terminate_handler()
[path_optimizer_node-1] #1 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff84e1caab, in abort
[path_optimizer_node-1] #0 Object "/lib/aarch64-linux-gnu/libc.so.6", at 0xffff84e2fd78, in gsignal
[path_optimizer_node-1] Aborted (Signal sent by tkill() 71 0)
[ERROR] [path_optimizer_node-1]: process has died [pid 71, exit code -6, cmd '/home/autoware/install/autoware_path_optimizer/lib/autoware_path_optimizer/path_optimizer_node --ros-args -r __node:=path_optimizer_node --params-file /home/autoware/install/wit_planning_launch/share/wit_planning_launch/config/scenario_planning/lane_driving/motion_planning/path_optimizer/common.param.yaml --params-file /home/autoware/install/mine_vehicle_description/share/mine_vehicle_description/config/vehicle_info.param.yaml --params-file /home/autoware/install/wit_planning_launch/share/wit_planning_launch/config/scenario_planning/lane_driving/motion_planning/path_optimizer/nearest_search.param.yaml --params-file /home/autoware/install/wit_planning_launch/share/wit_planning_launch/config/scenario_planning/lane_driving/motion_planning/path_optimizer/path_optimizer.param.yaml --params-file /tmp/launch_params_muwe81x0 -r ~/input/path:=/path_for_path_optimizer_in_behavior_velocity_planner -r ~/input/odometry:=/localization/kinematic_state -r ~/output/path:=/path_optimizer/trajectory -r ~/output/path_galactic:=/path_optimizer/galactic_trajectory'].