The vehicle drives backward at the starting point even though the destination is not behind.

[Kim-mins]

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

Hi team,

I'm currently running Autoware with Carla, and I found that sometimes the ego vehicle goes backward from the starting point, even though the goal is at behind him.

Here's the rviz video: [rviz]

I set the goal point before capturing the video, and the routing was successful (You could check the destination at 1:07 of the video).
We could check that the planned trajectory is to backward first, and after going back, the trajectory seems stable, but the vehicle cannot move at all.

Expected behavior

The vehicle to drive to the destination as usual.

Actual behavior

But the vehicle goes backward, and does not move at all.

Steps to reproduce

Here's the ros2bag file for the reproduction: [ros2bag]

Versions

• Autoware: 20240115, prebuilt docker
• Carla: 0.9.13
• OS (host): Ubuntu 20.04
• OS (docker): Ubuntu 22.04

Possible causes

No response

Additional context

No response