Fail to demo Autonomous Valet Parking [closed]
I follow link1 and link2 to do a Autonomous Valet Parking demonstration. It's able to generate a path, but the vehicle always moves straightly and fails to follow the path.
Here are steps I did:
In first terminal, run
ade --rc .aderc-lgsvl start --update --enter
source /opt/AutowareAuto/setup.bash
/opt/lgsvl/simulator
In second terminal, run
source /opt/AutowareAuto/setup.bash
ros2 launch autoware_auto_avp_demo ms3_sim.launch.py
In third terminal, run
source /opt/AutowareAuto/setup.bash
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link
Next, I'll drive vehicle to a position on the road and click 2D Pose Estimatie on Rviz2. After the vehicle localizes itself correctly, then I click 2D Nav Goal to set a parking goal for the vehicle. On Rvi2, I can see the generated path. However, it only moves straightly and couldn't stop in the right position.
Here is the video link of what I did for this demonstration. Please help me a favor, thanks !