Planning simulation ERROR

[atanasko]

I try to start Planning simulation using Nvidia Jetson Orin Nano and autoware f1tenth_humble branch but I do have the following error and can not start the simulation

f1tenth@ubuntu:~$ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/home/f1tenth/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
[INFO] [launch]: All log files can be found below /home/f1tenth/.ros/log/2024-05-25-12-19-17-901532-ubuntu-8564
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): launch configuration 'user_defined_initial_pose/enable' does not exist
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/system/component_state_monitor/container/_container/load_node' service response, due to shutdown.
[WARNING] [launch_ros.actions.load_composable_nodes]: Abandoning wait for the '/planning/scenario_planning/lane_driving/behavior_planning/behavior_planning_container/_container

I have also problem with Global Status: Error when trying to use slam_toolbox

Any advice? Thanks in advance!

[maxime-clem]

launch configuration 'user_defined_initial_pose/enable' does not exist

This indicates some missing parameters. Parameters are usually set in the autoware_launch repository, so this could indicate some out-of-sync repositories.
Did you do any update to the repositories or are you using a new setup of the f1tench_humble branch ? Did you properly setup the repositories with vcs import src < autoware.repos ?

[atanasko]

hi @maxime-clem

Driving direction is my mistake, sorry! When I do change the direction planning path is displayed, but Auto button still disabled. Any idea?

[joewong00]

Hi, I have the same issue with latest autoware. Is the team working on this issue?

[maxime-clem]

The current main works fine so if there was an issue it has already been fixed.

[atanasko]

Thanks @maxime-clem! main branch works fine now. I'll try with f1tenth_humble now.

[maxime-clem]

Do you still have the issue ? There should be no problem with the current latest version of Autoware. Please make sure ALL repositories are up to date (you can delete the src folder and run the vcs ... commands to completely refresh the repositories).
If you still have issues, please share your log file.

[atanasko]

hi @maxime-clem

I do test with the f1tenth_humble branch. I compile opencv with opencv_contrib, and rebuild autoware, but on the Jetson Orin Nano I can not start the simulation

there is an error in the console

[map_based_prediction-50] [WARN] [1717173273.966827202] [perception.object_recognition.prediction.map_based_prediction]: failed to get transform from base_link to map: Could not find a connection between 'base_link' and 'map' because they are not part of the same tree.Tf has two or more unconnected trees.

Any advice what the problem can be?
Thanks in advance!

[atanasko]

hi @maxime-clem

So after I successfully launch the simulation in a autoware build from main branch I try with build from f1tenth_humble branch. Because I have problems I forked autoware and autoware_universe repositories, and try to merge code from from main -> f1tenth_humble. There were some merge conflicts I resolve and try to build again and I have the following error:

f1tenth@ubuntu:~/autoware$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO -r
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
tier4_localization_launch: Cannot locate rosdep definition for [yabloc_image_processing]
trajectory_follower_f1tenth: Cannot locate rosdep definition for [trajectory_follower]
recordreplay_planner_nodes: Cannot locate rosdep definition for [behavior_planner]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully

when I look into the code I find that tier4_localization_launch depends on yabloc_image_processing in the f1tenth_humble branch but this package does not exist

for the trajectory_follower I find that this package exist only in f1tenth_galactic branch

and for behavior_planner I can not find this package at all

Any advice how to proceed? I'm trying to use f1tenth_humble branch for a research project. Any advice is much appreciated.

[maxime-clem]

I think the different repositories of your workspace are using branches that are not compatible with each other.
Please make sure you checkout f1tench_humble in the autoware metarepository (this should be the root of your workspace) and then run the vcs import src < autoware.repos command. If the src folder is not empty please delete everything inside of it.
If you previously build another version of Autoware in the same workspace you may need to clean your build artifacts (see https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/others/advanced-usage-of-colcon/#cleaning-up-the-build-artifacts).

I can at least confirm that the f1tenth_humble branch of autoware works fine for me.

[atanasko]

hi @maxime-clem
I do this multiple times.I did it from scratch.

$ git clone -b f1tenth_humble https://github.com/autowarefoundation/autoware.git
$ cd autoware
$ ./setup-dev-env.sh --no-nvidia --no-cuda-drivers
$ mkdir src
$ vcs import src < autoware.repos

but when I go into

~/autoware/src/universe/autoware.universe/

and I check the branch it points for the main branch instead the f1tenth_humble branch. When I switch to f1tenth_humble I hit the errors.

Then I check the tier4_localization_launch in the f1tenth_humble branch and find that depends on yabloc_image_processing

and after that I go into localization/yabloc/ directory and find that this package is missing in f1tenth_humble branch

I will try once again. Thanks for your time and support!

[maxime-clem]

The f1tenth_humble branch of Autoware does not use the f1tenth_humble branch of universe 🤔
@pojenwang do you know if this is a mistake ?

[atanasko]

hi @maxime-clem

I try to build and run planning simulation from the main branch on Jetson Orin Nano but again I have problems :-(. Simulator is started but vehicle can not be engaged. I attach build_log.txt and planning_sim_log.txt.

I want to be sure that at least build from main branch works before I continue with f1tenth_humble branch.

Any idea what may be a problem?
Thanks in advance!

[atanasko]

close this because of #4873