Trajectory spoofer test with kinematic model
Greetings,
I've been doing some tests with the Autoware.Auto stack with and without the LGSVL simulator.
I have the Autoware.Auto stack installed from source in a Jetson AGX with Ubuntu 18.04 and ROS Dashing.
Right now I'm running the trajectory_spoofer_mpc_control_launch.py, which uses the kinematic model of the vehicle, the trajectory_spoofer node and the mpc_controller node. I noticed that, for both the straight line and the circular trajectories, the MPC controller stops the vehicle before finishing the whole trajectory. I also get the following warning after some time has elapsed:
[mpc_controller_node_exe-2] [WARN] [control.mpc_controller]: Advancing count too high! Likely indexing bug somewhere
Any idea why the controller stops the vehicle before completing the whole trajectory? I will like to master at least these nodes, have them properly working, so I can later try to implement them on a real vehicle with the proper interface node that will talk to the low-level controller of the vehicle.
