The vehicle stops while driving down the hill, even though there's no obstacle.

[Kim-mins]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I'm convinced that this is not my fault but a bug.

Description

Hi team,

I'm currently running Autoware with Carla, and I found that the vehicle cannot drive down the hill, even though there's no obstacle in front.

Here's the frontview and rviz video: [frontview] [rviz]

At 0:16 of the rviz video, while driving down the hill, the ego vehicle stops and it does not move at all. It misclassify the ground as an obstacle at 0:09 of rviz video, but I think it has nothing to do with the current issue.

Expected behavior

The ego vehicle to drive down the hill correctly.

Actual behavior

But the vehicle stops during the driving, and does not move at all.

Steps to reproduce

Here's a ros2bag file for the reproduction: [ros2bag]

Versions

• Autoware: 20240115, prebuilt docker
• Carla: 0.9.13
• OS (host): Ubuntu 20.04
• OS (docker): Ubuntu 22.04

Possible causes

No response

Additional context

No response