Cannot make proper acceleration at uphill.

[Kim-mins]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Hi team,

I'm currently running Autoware with Carla, and found a situation that the vehicle stucks at uphill.
Here's the rviz videos of the situation: [rviz1] [rviz2]

• rviz1: This video shows a driving with default setting of slope compensation, and it shows that the vehicle cannot go uphill.
• rviz2: I tested the situation with planning simulator, and this also shows that the vehicle cannot go uphill either. I checked this because I thought this issue could be from bad localization at the uphill, but it seems not (at least for now).

Also, while running the simulation above, I cannot know why the shape of the drivable area is weird.

Here's more information of the situation:

• Starting/Goal point (from launch.log)

initial pose - x: -74.346236, y: 17.611892, z: -0.062959
initial orientation - qx: -0.004039, qy: 0.003657, qz: 0.707924, qw: 0.706268
goal pose - x: -1.848311, y: 87.232613, z: 2.275307
goal orientation - qx: 0.000000, qy: 0.000000, qz: -0.719365, qw: 0.694632

• Map: Town03 [Town03]
• ros2bag file: [ros2bag]
• launch.log file: [launch.log]

Could anyone please check this?

Thanks!

Expected behavior

I hope the vehicle to drive uphill well, and reach to the goal point.

Actual behavior

But the vehicle could not reach to the goal, as it stucks before the uphill.

Steps to reproduce

1. Pull image from https://github.com/autowarefoundation/autoware/pkgs/container/autoware/321564631?tag=universe-devel-cuda-0.39.1-amd64 and run Autoware with Carla, using autoware_carla_interface.
2. Run ros2bag file above.

Versions

• OS: Ubuntu 22.04 (Docker), Ubuntu 20.04 (host)
• Autoware: 0.39.1
• Carla: 0.9.15
• autoware_carla_interface: link

Possible causes

I guess this issue is from slope compensation, as the issue also occurs at hill, and is observed from the planning simulation too.

Additional context

No response

[maxime-clem]

It looks like the slope where ego stops is too sharp (~0.12 rad) for the default configuration (0.1).
Please try increasing the parameter (e.g., to 0.2 since the map seems to contain slopes of up to 0.2 rad).
https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml#L80-L81