twist angular value in /vehicle_cmd is remaining during error state
Required information:
- Operating system and version:
- Ubuntu 18.04.3
- Autoware installation type:
- source build
- Autoware version or commit hash
- master(f84edbce)
- ROS distribution and version:
- melodic
- ROS installation type:
- apt
- Package or library, if applicable:
- twist_gate
Description of the bug
Angular velocity value in /vehicle_cmd is not zero during error state.
Steps to reproduce the bug
roslaunch runtime_manager runtime_manager.launch
-
Assuming moriyama sample data(http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz) is extracted in ~/.autoware .
-
On Setup tab
- Turn on tf(empty), vehicle model(~/autoware.ai/src/autoware/visualization/vehicle_description/urdf/sim_default.urdf)
-
On Map tab
- Output point cloud map(~/.autoware/data/map/pointcloud_map/bin_Laser-00169_-00868.pcd)
- Output vector map(.autoware/data/map/vector_map/zebrazone.csv)
- Output tf(.autoware/data/tf/tf.launch)
-
Computing tab
- Turn on lane_rule, lane_stop, lane_select
- In waypoint_loader setting select .autoware/data/moriyama/path/saved_waypoints_replaned.csv and turn on
- Turn on astar_avoid, velocity_set, pure_pursuit, twist_fileter
- In vel_pose_connect setting select Simulation mode and turn on
- Turn on wf_simulator
-
Launch Rviz
-
Load configuration ~/autoware.ai/src/autoware/documentation/autoware_quickstart_examples/config/default.rviz
-
Set target frame to world and click Zero
-
Launch health checker by hand.
roslaunch autoware_health_checker health_checker.launch
- Launch emergency handler by hand
roslaunch emergency_handler emergency_handler.launch
But there is bug and configuration file is not loaded(See common#8 (closed)). Do as below.
roslaunch emergency_handler emergency_handler.launch config_file:='~/autoware.ai/src/autoware/common/emergency_handler/config/emergency_handler.yaml'
And this default configuraton is disabling emergency handling. Change line as below.
emergency_planner_enabled: true
- Turn on twist_cmd watching.
rosparam set /health_checker/twist_cmd_linear_high default
- Put initial pose on Rviz.
- Confirm the vehicle is stop soon by emergency.
Expected behavior
A vehicle stops and never move until error or fatal state is cleared.
Actual behavior
A vehicle is unexpectedly moving unless its error state.
Video
The vehicle stops immediately but keeps rotating.