Parking Scenario Cannot Initiate Sometimes Due to Route Handler

[ismetatabay]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

According to the Lanelet maps definition (as seen in the image below), the parking scenario cannot be initiated, even if the ego vehicle and the goal pose are in the parking lot area, due to a route miscalculation.

[component_container_mt-27] [ERROR 1726580212.592301377] [route_handler]: Failed to find a proper route!
[component_container_mt-27]  - start checkpoint: (3712.36, 73734.8,19.4899)
[component_container_mt-27]  - goal checkpoint: (3721.45, 73741.4,0)
[component_container_mt-27]  - start lane id: 7
[component_container_mt-27]  - goal lane id: 51

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Map file

lanelet2_map.txt

Purpose

Perform parking scenarios in the parking lot, regardless of lanelets

Possible approaches

• Check if the vehicle and goal pose in the parking lot
• Return the current lanelet of the ego vehicle as a route

Definition of done

• Implement a solution to check ego and goal pose in parking lot or not
• Perform parking scenario in the given parking lot