We are having some issues in our fixed route pure pursuit model.

As it's driving / trying to follow the path it will occasionally get stuck in a "loop" of trying to reach the target velocity (16 km/h) ~ 10 mph and instead goes at 7 km/h ~ 4 mp/h. It seems to keep applying the breaks and accelerating back and forth, and were not sure what to do. One thing I have noticed is that if it's dead center on the path in the beginning vs. trying to turn into the path, it has a better chance of getting into the state where it accelerates correctly. However, once we hit the first intersection and turn, it can then just go back to this "toggling" of target velocity on the waypoints and just slows down.

We've tracked down that prior to going into the behaviour planning node /final_waypoints looks correct. However when it comes out we notice the target velocity has completely changed.

Lastly, we also noticed that when it is reaching the target velocity correctly on the fixed route, it overshoots the end goal / end waypoint of the fixed route completely without stopping.

Vehicle: Ford Transit 2019 OS: Ubuntu 18.04 Hardware: Nvidia Drive AGX (Utilizing both AGX Units with cross-talk over ROS)

Notes on this we have noticed no packet dropping / delays with this, the issue seems to be more tuning on the autoware side?

https://github.com/autowarefoundation/autoware/discussions/2884