[Strange Performance] Unusual Stops and Restarts While Running Apollo in Carla

[AOOOOOA]

I'm running Apollo(0.9.8) in Carla(0.9.14) using the official bridge provided by guardstrikelab (GitHub link). 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, at times, even without any obstacles present, the Apollo vehicle suddenly stops and then resumes. This issue doesn't occur when running Apollo alone in Carla. Is this behavior expected?

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

stop_and_rerun.mp4