pure_pursuit: wrong waypoint's velocity is used as the command_linear_velocity_
The pure_pursuit node subscribes to /final_waypoints (type autoware_msgs::Lane). The first waypoint in /final_waypoint holds the ego-vehicle's current pose and twist. The code (inside package velocity_set) where the current pose/twist of ego-vehilce is prepended can be found at VelocitySetPath::setTemporalWaypoints(). So the actual command velocity for pure_pursuit should be the velocity of waypoint at index 1 instead of index 0 from the received /final_waypoints msgs.