Ego car does not move when I record scenarios using rosbag.

[hcn1519]

Describe the bug

When I try to record scenario test runner by setting record:= true, ego car does not move in the simulator. Same scenario runs as expected when I set record:= false. The following is the log obtained by changing only the record settings and executing a scenario with the other settings being the same.

launch-record-false.log
launch-record-true.log

• Running command

ros2 launch -d scenario_test_runner scenario_test_runner.launch.py \
  architecture_type:=awf/universe \
  record:=true \
  scenario:='$(find-pkg-share scenario_test_runner)/scenario/RoutingAction.FollowTrajectoryAction-autoware.yaml' \
  sensor_model:=sample_sensor_kit \
  vehicle_model:=sample_vehicle

To Reproduce
Steps to reproduce the behavior:

1. Finish to set up for both Autoware and scenario simulator v2.
2. Execute above command where autoware is located.
3. See if the scenario running as expected.

Expected behavior
Ego car should move according to the scenario regardless of record setting.

Desktop (please complete the following information):

• OS: ubuntu 22.04
• Browser N/A
• Version [e.g. 22]
• ROS 2 version: humble
• DDS

[hcn1519]

I solved it. This is related to #1179 and is about an Autoware performance issue, not a bug in the scenario simulator.

• https://autowarefoundation.github.io/autoware-documentation/main/support/troubleshooting/performance-troubleshooting/#check-the-dds-settings