If a vehicle is standing on a step slope carla_ackermann_control calculates that the expected acceleration from a gravity is higher than the maximum allowed acceleration so it enters "coasting" mode. It works ok if a vehicle is already moving. However Carla has this "feature" that if you stop a vehicle on a slope then it stays stopped even if you release the brake. It moves only if you add some throttle. This feature seems to be incompatible with the current implementation of carla_ackermann_control and as a result if you stop the vehicle on a slope carla_ackermann_control is not able to start it.
Is there a way to disable this "auto-hold" feature in Carla, or is there a way to make carla_ackermann_control work around this feature?
If a vehicle is standing on a step slope carla_ackermann_control calculates that the expected acceleration from a gravity is higher than the maximum allowed acceleration so it enters "coasting" mode. It works ok if a vehicle is already moving. However Carla has this "feature" that if you stop a vehicle on a slope then it stays stopped even if you release the brake. It moves only if you add some throttle. This feature seems to be incompatible with the current implementation of carla_ackermann_control and as a result if you stop the vehicle on a slope carla_ackermann_control is not able to start it.
Is there a way to disable this "auto-hold" feature in Carla, or is there a way to make carla_ackermann_control work around this feature?