Potential config error - default lookahead of pure_pursuit is too big, causing lane invasion

[squizz617]

Hi,
As shown in the video, the default lookahead value of pure_pursuit set in carla-autoware-agent/agent/launch/my_motion_planning.launch is too big, and causing vehicles to crash into fences or step over curbs while making sharp right turns.

After experimenting with various configurations, I found that setting the lookahead_ratio to 0.5 and minimum_lookahead_distance to 4.0 makes the vehicle make proper right turns in both slow and fast speeds. Any thoughts on changing the default configuration? Thanks!

Environment

• Operating system and version: Ubuntu 18.04
• CARLA version: 0.9.10.1 (docker image: carlasim/carla:0.9.10.1)
• Autoware version: 1.14.0 (docker image: autoware/autoware:1.14.0-melodic-cuda)
• Bridge: carla-autoware-bridge at 975b6f3
• ROS distribution and version:
  • ROS Melodic (pre-installed in the docker image)
• ROS installation type:
  • Pre-installed in the docker image