Closed Kim-mins closed 2 months ago
The main issue comes from bad control: the vehicle deviates significantly from the trajectory when colliding with the obstacle (~45cm of lateral error).
The control issue should be improved by the new CARLA interface (https://github.com/autowarefoundation/autoware.universe/pull/6859).
Sorry for late reply @maxime-clem.
Thank you for checking. I'll check it with the new Carla interface, and I'll reopen this if I got the same issue.
Thanks!
Checklist
Description
Hi team,
I'm currently running Autoware with Carla, and I found a situation that the ego vehicle collides with the obstacle at the corner while turning.
https://github.com/autowarefoundation/autoware.universe/assets/50267797/1b9176fd-6f62-4703-82b3-5bdf23f93b80
https://github.com/autowarefoundation/autoware.universe/assets/50267797/d996e4ed-c0f0-4b61-8b06-de2e7565b9d7
On rviz video, the points from the fence are detected and overlap with the edge of the drivable area, but the ego vehicle eventually collides with the obstacle.
Expected behavior
No collision while turning
Actual behavior
But the collision was made.
Steps to reproduce
Here's a [ros2bag file] for the reproduction.
Versions
Possible causes
No response
Additional context
No response