Unexpected vehicle behavior in co-simulation (may be related to Apollo control module)

[Heavenchick]

Thank you sincerely for your dedicated efforts! I have come across an issue in this project. Could you please assist me in resolving it? Following the completion of the bridging process, I've observed that when I send a route request to the vehicle, there are instances where the vehicle abruptly turns, deviates from the road, collides with roadside facilities, and halts the routing process. What could be causing this? Additionally, does this bridge send sensor data to Apollo? I couldn't find a way to get these data in Apollo. Do I need to spawn them and attach them to the ego vehicle using my own scripts?

[Heavenchick]

It went to the opposite lane and stopped routing after it turns.
I've already replaced control_conf.pb.txt with the one you provided, but it still works abnormally.

[MaisJamal]

It might be related to the mode (synchronous or asynchronous ), currently the bridge supports only asynchronous mode and controlling was tuned in that mode, please make sure you run the scene in that mode. If you set it to async and have followed the tutorial exactly and still have the problem, you should check the resources if they are enough for Apollo with Carla simulator.

Regarding sending sensor data, I have updated the bridge to send lidar data. Please check README for instructions and you can check the related commit. In manual_control.py you can add the sensor with your parameters and the bridge in run_bridge will get the sensor through filtering actors and send its data at every cycle.

[Heavenchick]

Sorry for the late reply. Regarding the solution you provided, I'm still not sure of it. I have been using that exact script (manual_control.py) you provided which seems to be using the synchronous mode; do I need to modify it to asynchronous mode? Additionally, even after upgrading to the latest version, this issue persists. Would you mind taking a look at a video I uploaded regarding this issue?
https://youtu.be/nJ9Lu5IcJZk