Planning fails to calculate trajectory in a certain map.

[mitsudome-r]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Autoware fails to calculate trajectory in a certain map.

Expected behavior

Autoware succeeds to calculate a trajectory.

Actual behavior

Autoware fails to calculate trajectory in a certain map.

Steps to reproduce

1. Download the map shalun_map.zip
2. Set the initial pose and goal position as in the image

Versions

• Autoware: 0.39.0

Possible causes

It seems like it is hanging in intersection module.
If I modify the attention_area_length to 50.0 from the default 200.0, it successfully calculate trajectory.

I did a deeper look in the code, but I'm doubting that getPrecedingLaneletsUptoIntersectionRecursive() might be causing some issues with the map with roundabout.

Additional context

No response