Autoware Astar avoid bad_alloc error

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Required information:

• Operating system and version: Ubuntu 18.04
• Autoware installation type: Source
• Autoware version or commit hash : d392ba8d54fe4a22c89eb60c6f0884fa12348af4
• ROS distribution and version: Melodic
• ROS installation type: Installed with apt-get.
• Package or library, if applicable: astar_avoid

Description of the bug

Using LGSVL sim, astar avoid crashes in avoidance_mode when stopping.

Steps to reproduce the bug

• Load map + get the car localized with ndt_matching
• Load waypoints and put obstacles on the way
• Detects objects with lidar_euclidean_cluster_detect + used them in costmap_generator_option to generate a costmap.
• Start waypoint_loader, waypoint_replanner, waypoint_marker_publisher, lane_rule, lane_stop and lane_select.
• Start astar_avoid in avoidance_mode, astar_navi, velocity_set, twist_filter and pure_pursuit.

Error message :

[ INFO] [1582019551.725842839]: RELAYING -> STOPPING, Decelerate for stopping                                                                                                                                                                 

terminate called after throwing an instance of 'std::bad_alloc'                                                                                                                                                                               
  what():  std::bad_alloc                                                                                                                                                                                                                     

[astar_avoid-1] process has died [pid 7504, exit code -6, cmd /home/maxandre/autoware.ai/install/waypoint_planner/lib/waypoint_planner/astar_avoid costmap:=semantics/costmap_generator/occupancy_grid __name:=astar_avoid __log:=/home/maxand
re/.ros/log/e7f5412c-5230-11ea-9e82-9cb6d0c541d5/astar_avoid-1.log].                                                                                                                                                                          
log file: /home/maxandre/.ros/log/e7f5412c-5230-11ea-9e82-9cb6d0c541d5/astar_avoid-1*.log

Expected behavior

The car should detect the obstacle, slow down, replan a new way around it, and follow it.

Actual behavior

Astar_avoid crashes after an object is detected

You can find a rosbag of what is happening here

Do you have any idea how to correct this ?

• Does velocity_set has other uses than just stopping when an obstacle is detected ?
• Could velocity_set work with an occupancy grid?
• How do I use astar_avoid in avoidance_mode and what nodes are needed ?
• Is it possible to make astar_avoid only stop when there is an obstacle ? Just like velocity_set