Obstacle Stop Planner triggers "obstacle on the path" even when the road is clear

[Minaygt]

Hi !
I am facing an issue where the Obstacle Stop Planner detects an obstacle and stops the vehicle (turning the path red) even though there are no visible external obstacles in the path. You can see the behavior in the attached screenshots.

I suspect a few possible causes and would appreciate your guidance:

1. Self-Perception / Vehicle Dimensions: I have recently updated the vehicle dimensions in the configuration. Is it possible that the LiDAR point cloud is hitting the vehicle's own body, causing the planner to perceive the ego-vehicle as an obstacle?

2. Map & Localization: I am using an older point cloud map. Could a mismatch between the current LiDAR scans and the legacy map cause "ghost" obstacles to appear on the predicted path?

3. Sensor Filter Settings: Perhaps the ground filtering or "self-filter" parameters are not tuned correctly, leading to ground points being classified as obstacles. How can I fix is this?

• I use awsim-stable branch

• Ubuntu 22.04 Humble

[maxime-clem]

It does look like there are obstacle points (in grey) right in front of the ego vehicle, causing the issue.
It does not look like points from the vehicle body and they are probably ground points that are not properly filtered. You can make sure by visualizing the points in 3D to see their Z component.