Unable to park when running simulation using autoware(galactic)

[fazhehy]

I executed the following command：

ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit

I set the target location to the parking area, and then found that the STATE always show PLANNING，but the planned path could be displayed. I clicked the engage button but the car did not start.

Here is some terminal output

[maxime-clem]

The version of Autoware working with galactic is very old and there are many bugs in the parking features that have since been fixed.

If I remember correctly, one bug is that we cannot directly plan a parking trajectory. Please try to start from outside of the parking area to see if it fixes the issue.
Otherwise, please switch to a more recent version as galactic is no longer maintained.

[fazhehy]

Thank you very much for your reply

I tried starting from outside the parking lot, but that didn't seem to work either.

For some reasons, I can only use Ubuntu 20.04. Is there any version of ubnutu 20.04 that has not stopped maintaining?

[maxime-clem]

Are you able to use Docker ? It would allow you to run the latest Autoware version even if your host machine uses Ubuntu 20.04.
https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/docker-installation/

[fazhehy]

Thanks, I'll go give it a try.