TF breakdown during turns

[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.
• There are multiple instances where frames get "shattered" during turns.
• The effect are immediate; the vehicle makes a weird, clumsy turn, gets disoriented, often invades lanes. In the worst case, it keeps turning at an intersection.
• One thing I noticed is that TF breakdown mostly happens at the last corner before reaching the destination.
• Instance 1
  • Camera
  • rviz
  • rosbag
• Instance 2
  • Camera
  • rviz
  • rosbag
• Instance 3
  • Camera
  • rviz
  • rosbag
• Instance 4
  • Camera
  • rviz
  • rosbag
• Instance 5
  • Camera
  • rviz
  • rosbag
• Instance 6
  • Camera
  • rviz
  • rosbag
• Instance 7
  • Camera
  • rviz
  • rosbag
• Instance 8
  • Camera
  • rviz
  • rosbag
• Instance 9 - in this case, the TFs get re-aligned after a while, but then gets shattered again
  • Camera
  • rviz
  • rosbag
• Instance 10 - chaotic case. The vehicle keeps looping at an intersection
  • Camera
  • rviz
  • rosbag

Steps to reproduce the bug

1. Replay the attached rosbag files.

Expected behavior

TFs should be aligned, moving together as a piece.

Actual behavior

TFs gets separated, and vehicle gets lost.

Screenshots

Videos attached above.

Additional information