recordreplay_planner Does Not Continuously Update the Trajectory
There is no management system for the timestamp of the trajectory. So, if the trajectory is published only once, the MPC failed to follow (e.g. causes sudden acceleration or steer vibrations). This can be solved by publishing the trajectory with a certain frequency (recordreplay_planner
updates the trajectory in /vehicle_kinematic_state
callback) with updating the time_from_start
based on the trajectory velocity.