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Perception: COSTMAP Fails to generate map | Planning: module fails to accomplish evasive Maneuver

Hi
I am facing harshing issues on Autoware.AI to generate and update the occupancy_grid map through different ground_filters and costmap_generators. As consequence the car does **not draw and follow the trajectory to avoid the obstacle properly. A COMPLETE DESCRIPTION of this issue is here:

** Perception: COSTMAP Fails to generate map | Planning: module fails to accomplish evasive Maneuver · Issue #2379 · Autoware-AI/autoware.ai · GitHub

Some experienced user/developer had already this problem? I found no solution in ROS answers yet. I really appreciate a support/discussion on this topic if someone be able. I could not solve alone after several weeks of huge efforts. Thanks