Revision history [back]

This is likely due to the MPC controller. We have an issue tracking this problem here: https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/issues/1081. However, this is likely something that can be solved by tuning the parameters for the MPC controller in the YAML file that is passed to it in your launch file. We have not had time recently to work on this as we have been focused on new feature development for the Cargo Delivery ODD. Please let us know in that issue (and, preferably, in this question as well) if you are able to resolve the oscillation problem and how.