Fail to demo Autonomous Valet Parking [closed]

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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:

1. In first terminal, run

   ade --rc .aderc-lgsvl start --update --enter

   source /opt/AutowareAuto/setup.bash

   /opt/lgsvl/simulator

2. In second terminal, run

   source /opt/AutowareAuto/setup.bash

   ros2 launch autoware_auto_avp_demo ms3_sim.launch.py

3. 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

4. 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 !