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There should be mode nodes such as lane_rule, lane_stop, lane_select and vel_pos_conext to connect topics correctly.
[MPC] MPC is not solved. ref_traj_.size() = 0, my_position_ok_ = 1, my_velocity_ok_ = 0, my_steering_ok_ = 0
implies that the needed trajectory, velocity, and steering topic are not received in the mpc.
Please make sure that the autoware_msgs/VehicleStatus and geometry_msgs::Twist and autoware_msgs::Lane is connected to the MPC node.
About those topics, autoware_msgs/VehicleStatus and geometry_msgs/Twist should be published by the Gazebo and connected to the MPC (using relay or remap).
For autoware_msgs::Lane, we usually launch lane_rule, lane_stop, lane_select, velocity_set and astar_avoid to connect the lane information from waypoint_loader to some controller nodes (/pure_pursuit or /mpc_follower).
This video might be useful (from the autoware wiki).
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