Autoware undesired behavior: wheels turning in static and vehicle not moving

[tseco15]

Hi,
We are working with Autoware with a truck vehicle in a real scenario.
The localization and planning works properly, but some times we observe the following behavior:

• Before pressing AUTO button, the wheels turn an angle approximately equal to the maximum angle of rotation of the wheels
• After pressing AUTO we have observed two different behviors:
  1- The vehicle never starts the movement
  2- The vehicle begins to move after a significant amount of time

The wheel turning also sometimes occurs after the vehicle reaches the goal.

Any suggestions?
How we could debug this issue?

[shulanbushangshu]

I think there are multiple reasons to consider. The first is whether there is a deviation in positioning causing the initial direction Angle to be abnormal. Second, in the control code, it will record the last control amount, whether it was cleared correctly. I think we can draw the curve that controls the Angle once we know what's going on. In the real car debugging, we also encountered a large output of the control quantity in the direction of reaching the end point, which we believe is the horizontal control after reaching the end point without processing the control, or the control is not synchronized after the arrival of the position judgment.