Supporting small vehicles

[ahmaad-ansari]

I have been trying to integrate Autoware for its parking scenarios on a small-scale vehicle. I was able to create my own vehicle model which runs fine in the sample-map-planning map, however, when I create my own map custom to my environment and its scale the path planning does not do a good job of accommodating its size. I am using the sample sensor kit with my vehicle model. Below is output of what happens the majority of the time I run a simulation. Now, I am not sure why this is happening. Any help would be appreciated.

• The vehicle model can be found here: https://github.com/ahmaad-ansari/r2_vehicle_launch.git
• The map I am using can be found here: https://github.com/ahmaad-ansari/autoware_map/tree/main/small-map-planning

When setting initial and goal pose for a straight line, the simulation seems to run fine.