Vehicle can not move because steering is not controlable when stopped

[brkay54]

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

In vehicle_cmd_gate, if the vehicle is in the stopped state it sends the current steering to the low level. However, this causes a bug for the longitudinal controller because of keep_stopped_until_steering_converge parameter.

Because of this, in planning_simulator, we can not control the steering when velocity is zero in the manual controller.

I think moving keep_stopped_steering_convergence parameter from pid_controller to vehicle_cmd_gate is a good option to fix it.

Expected behavior

The vehicle is moving when it is in autonomous mode.

Actual behavior

The vehicle is not moving when it is in autonomous mode.

Steps to reproduce

1. open planning simulator
2. add manual controller panel
3. try to control steering when velocity is 0

Versions

No response

Possible causes

No response

Additional context

No response

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[feng123a52]

请问使用禾赛的激光雷达实车在外部传入自己的点云数据，autoware出现了这么个错，The pointcloud layout is not compatible with PointXYZIRCAEDT/PointXYZIRC. Aborting该如何解决

[knzo25]

@feng123a52
Ever since #6996
we use a different pointcloud type. You could either modify Hesai drivers or use Nebula (tier4's driver).
Also, please create new issues/discussions and if you want to ease communications, I highly recommend sticking to English