Localization error underneath a bridge

[squizz617]

Bug report

Required information:

• Operating system and version: Ubuntu 18.04
• Autoware installation type: Docker image autoware/autoware:1.14.0-melodic-cuda, as specified in the Dockerfile of https://github.com/carla-simulator/carla-autoware at commit 975b6f3.
• Autoware version or commit hash - 1.14.0
• ROS distribution and version:
  • ROS Melodic (pre-installed in the docker image)
• ROS installation type:
  • Pre-installed in the docker image

Description of the bug

• I am running Autoware 1.14.0 (docker image: autoware/autoware:1.14.0-melodic-cuda), Carla 0.9.10.1 (docker image: carlasim/carla:0.9.10.1) as a simulator and carla-autoware-bridge at 975b6f3 as a bridge.
• When the ego_vehicle is passing underneath a bridge in Carla's "Town 04" map, the base_link frame (i.e., the velodyne frame) gets stranded, while all the other frames including the camera, gnss, imu keep moving forward along the global path. As a result of this discrepancy, the vehicle gets disoriented and crashes into a fence.
• The camera data (from 1:40) shows that the camera sensor is moving forward without any problem underneath the bridge.
• However, rviz (from 2:34) shows that the vehicle's estimated position (pink arrow) stops moving right before the bridge.
• Please check the rosbag file for a detailed trace.
• Map files can be downloaded at: autoware-contents.

Steps to reproduce the bug

1. Replay the self-contained rosbag file.

Expected behavior

All TFs move along the global path without any of them getting stranded.

Actual behavior

base_frame stops moving, resulting in a localization error and a collision.

Screenshots

• camera data
• rviz

Additional information