fix(mpc_lateral_controller): publish predicted trajectory in Frenet coordinate and visualize it on Rviz #1111
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…oordinate and visualize it on Rviz Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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Description
Regarding the visualization of the predicted trajectory by MPC, previously the trajectory in the frenet frame was used, but the one in the world coordinate is currently used by the following PR.
autowarefoundation/autoware.universe#5576
However, the predicted trajectory in the world coordinate has a bug as shown in the following video.
Screencast from 2024年08月09日 01時15分36秒.webm
Therefore, as a temporal solution, this PR started to visualize the predicted trajectory in the frenet frame on Rviz again.
Tests performed
psim
Effects on system behavior
Not applicable.
Interface changes
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