[Strange Performance] Unusual Fluctuations in Local Trajectories while Running Apollo in Carla

[AOOOOOA]

Hi,

I'm running Apollo(0.9.8) in Carla(0.9.14) using the official bridge provided by guardstrikelab (GitHub link) using Ubuntu 18.04. I attempted to simulate a realistic driving scenario by adding multiple vehicles in Carla alongside Apollo, using the generate_traffic.py script from the PythonAPI/examples folder. Specifically, I added 20 vehicles and 20 walkers, setting them to safe mode to avoid collisions. Carla was configured in synchronous mode with a frame time of 0.05.

However, after adding the additional vehicles and walkers, I noticed unusual fluctuations in Apollo's local trajectory. This issue rarely occurs when running Apollo alone in Carla. Most of the time, Apollo manages to correct itself and return to the proper path, but occasionally it gets stuck.

Is this behavior expected?

I've attached a sample video below for reference. If you need further information to reproduce, please let me know.

fluct_traj.mp4