Target speed keeps increasing, overriding velocity_max parameter of waypoint_replanner

[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.
• On a certain road of Town01, the vehicle keeps accelerating even though the velocity_max is set to 20.0 kmph. Reaching the corner at the end of the road, the vehicle cannot turn properly because of its excessive speed. This seems to be only happening on this specific road; no matter if the vehicle starts from the beginning of the road or enters halfway down the road, acceleration happens.
• Camera data
• rviz
• 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 observe the velocity_max value (20.0) like it does on the rest of the road.

Actual behavior

Vehicle disregards the parameter and keeps accelerating.

Screenshots

• camera data
• rviz

Additional information

[JWhitleyWork]

@squizz617 Thanks for reporting this. I don't currently have an ETA on when someone will be able to investigate the cause but we will leave it here for the 1.15.1 release.