Vehicle does not stop upon reaching the destination, but starts another trip only to crash

[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 vehicle reaches the destination, it keeps moving, overshoots, and ends up re-planning its way to the destination. But then the next waypoint it tries to reach is not the one in the closest distance, but the one far away. To reach that waypoint the vehicle deviates from the lane and crashes.
• Instance 1:
  • This camera data shows the collision in the end.
  • Checking the rviz, we can see that the vehicle keeps moving after the destination, re-plans a global path all the way around the street, but shoots for the waypoint far away to the west and crashes.
  • Please cehck the rosbag file for a detailed trace.
• Similarly in another instance:
  • Camera
  • rvia
  • rosbag
• Map files can be downloaded at: autoware-contents.

Steps to reproduce the bug

1. Replay the self-contained rosbag file.

Expected behavior

Vehicle should stop at its destination and wait for the next goal to be published.

Actual behavior

Vehicle fails to stop at the destination, and pure_pursuit tries to reach the waypoint that is far away from the current position.

Screenshots

• camera data
• rviz

Additional information