longitudinal_controller makes an emergency stop before reaching the destination, after turning a corner #6948
Labels
CARLA
Issue when using the CARLA simulator
component:control
Vehicle control algorithms and mechanisms. (auto-assigned)
Checklist
Description
Hi team,
I'm currently running Autoware with Carla, and I found a situation that the vehicle stops forever before reaching the destination, just after turning the corner.
Here's the videos for more detail: [frontview] [rviz]
At 0:16 of the rviz video, it is perceived as an obstacle is on the path and the vehicle stops.
But, after the stop, even though there's no obstacle in front, the ego vehicle does not drive more.
Expected behavior
I hope the ego vehicle to drive to the destination successfully.
Actual behavior
But the vehicle cannot reach the goal.
Steps to reproduce
Here's a ros2bag file for the reproduction: [ros2bag]
Versions
Possible causes
No response
Additional context
I've observed this issue occurs only when the destination is near to the corner, not when far from the corner.
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