Emergency stop at the intersection makes the ego vehicle stop forever.

[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 with Carla using bridge implementation, and I found a situation that the ego vehicle makes emergency stop at the intersection, but it stops forever.

Here's the rviz video of the situation: [rviz] and launch.log file: [launch.log]

In the video, trajectory prediction for NPC Vehicle failed(I cannot sure if this is the cause) and according to the log file, longitudinal_controller makes emergency stop.

...
1721057277.4578128 [component_container_mt-81] [ERROR] [1721057277.457510722] [control.trajectory_follower.controller_node_exe.longitudinal_controller]: [Emergency stop] vel: 0.000, acc: -3.550
...

Expected behavior

I hope the ego vehicle to drive to the destination.

Actual behavior

But the vehicle stucks at the intersection after emergency stop.

Steps to reproduce

Here's the ros2bag file for the reproduction: [ros2bag]

Versions

• autoware.universe: 7877192cb5700c1db15109dcd959785fc381951d
• Carla: 0.9.15

Possible causes

No response

Additional context

No response

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.