Autoware Auto record replay planner crashes during following

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Hello everyone,

I have been encountering one problem for several weeks and I cannot figure out how to solve it. I can record a path without problem.
But later when following it works it perfectly for a few seconds then recordreplay_planner_node_exe-1 crashes with the error :

[recordreplay_planner_node_exe-1] recordreplay_planner_node_exe: /tmp/binarydeb/ros-dashing-cyclonedds-0.5.1/src/core/ddsc/src/dds_whc.c:815: whc_delete_one_intv: Assertion `(intv->first == NULL) == (intv->min == intv->maxp1)' failed

I have the error each time I try to follow, have you had this problem before ?

• Here's a video example : here
• Here's the launch file I use for recording and replay : here
• The localization launchfile : here
• The core launchfile : here.

Thanks a lot !