Failed to yield to a vehicle at roundabout.

[Kim-mins]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Hi team,

I'm currently running Autoware in Carla, and I found a situation that Autoware fails to yield to a vehicle at a roundabout.
Here's a video of the situation: [rviz]

In the video, as shown in the image above, a vehicle, which is 'unknown' to Autoware, is ignored at a roundabout.

Here's more information of the situation.

• Starting/Goal pose (from launch.log file)

initial pose - x: 43.210449, y: 7.834843, z: 0.066023
initial orientation - qx: 0.000052, qy: -0.000355, qz: 0.999972, qw: 0.007506
goal pose - x: -18.544405, y: -130.888123, z: 2.000000
goal orientation - qx: -0.000000, qy: 0.000000, qz: 0.999936, qw: -0.011316

• Map: Town03
• ros2bag file: [ros2bag]
• launch.log file: [launch.log]

Expected behavior

I hope the ego vehicle to yield to the vehicle, whose trajectories are overlapping each other.

Actual behavior

However, there's no yield and crashes.

Steps to reproduce

1. Pull image from https://github.com/autowarefoundation/autoware/pkgs/container/autoware/321564631?tag=universe-devel-cuda-0.39.1-amd64, and run Autoware.
2. Run ros2bag file above.

Versions

• OS: Ubuntu 22.04 (Docker), Ubuntu 20.04 (host)
• Autoware: 0.39.1
• Carla: 0.9.15
• autoware_carla_interface: link

Possible causes

No response

Additional context

No response