MPC backward motion does not stop at the end
Description
How to Reproduce
1,. Build the package and Launch LGSVL simulator
ade --rc .aderc-lgsvl start --update --enter
cd AutowareAuto
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /opt/lgsvl/simulator
- Create a backward trajectory and run MPC Controller to control the vehicle
ros2 launch test_trajectory_following trajectory_recording.launch.py
ros2 action send_goal /planning/recordtrajectory recordreplay_planner_actions/action/RecordTrajectory "{record_path: "/tmp/path"}" --feedback
ros2 action send_goal /planning/replaytrajectory recordreplay_planner_actions/action/ReplayTrajectory "{replay_path: "/tmp/path"}" --feedback
Current Behavior
Do not stop and overrun the end of the trajectory.
Expected behavior
Stop at the end of the created trajectory.
Edited by Yutaka Shimizu