The ego vehicle does not change lane and stops at a weird location. #8032
Labels
component:planning
Route planning, decision-making, and navigation. (auto-assigned)
simulator:carla
Issue related to CARLA simulator
status:stale
Inactive or outdated issues. (auto-assigned)
Checklist
Description
Hi team,
I'm currently running Autoware with Carla using bridge implementation, and I found a situation that the ego vehicle does not change lane and stops at a weird location.
Here's a rviz video of the situation: [rviz]
As shown in the video, the goal seems to require lane changes. However, the planned trajectory is not generated for lane change, and it drives forward, but it eventually stops at a weird location (seems the car stops at the location horizontally aligned with the goal point).
Expected behavior
I hope the ego vehicle could drive to the goal point.
Actual behavior
But it could not, and it eventually stops at a weird point.
Steps to reproduce
Here's a ros2bag file for the reproduction: [ros2bag]
Versions
Possible causes
No response
Additional context
No response
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