Autoware ego vehicle stop in the middle of a route using Open Planner

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Hi all,

I am using the Autoware 1.13 Release + Open Planner (common, core_perception, and core_planning) from @Hatem fantastic fork. I would like to use Open Planner to achieve decision/path planning and obstacle avoidance with surrounding objects (moving vehicles, static obstacles, etc.)

However, the ego vehicle will sometimes stop in the middle of a route (behavior state is End) after interacting with a moving vehicle on the target lane. The detailed processes I went through and the problems are shown in the video. It seems like the local paths do not update that "smoothly" and "correctly" as in Hatem's demo video.

Besides, another minor thing I founded is that the ego-vehicle will have some offsets of the z-axis (not on the map, but below the map). This can be solved by selecting "use_waypoints_for_z_point_source" in the "wf_simulator". This problem is also demonstrated in my video. I wonder what causes this problem and whether my solution is correct.

Please advise if you have any comments or suggestions, especially for the first problem. Thanks a lot!