Driving does not work

[alexkutsan]

Trying to drive lane forwarding but, no reactions in lg simulator.

I have such output in by docker compose drive:

Starting lanefollowing_drive_visual ... done
Attaching to lanefollowing_drive_visual
drive_visual_1      | (node:1301) Warning: N-API is an experimental feature and could change at any time.
drive_visual_1      | The web socket server started on ws://localhost:9090
drive_visual_1      | 2020-02-11 12:58:58.831753: I tensorflow/core/platform/cpu_feature_guard.cc:140] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA
drive_visual_1      | 2020-02-11 12:58:59.116185: I tensorflow/stream_executor/cuda/cuda_gpu_executor.cc:898] successful NUMA node read from SysFS had negative value (-1), but there must be at least one NUMA node, so returning NUMA node zero
drive_visual_1      | 2020-02-11 12:58:59.116693: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1356] Found device 0 with properties: 
drive_visual_1      | name: GeForce GTX 1050 major: 6 minor: 1 memoryClockRate(GHz): 1.493
drive_visual_1      | pciBusID: 0000:01:00.0
drive_visual_1      | totalMemory: 3.95GiB freeMemory: 1.64GiB
drive_visual_1      | 2020-02-11 12:58:59.116804: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1435] Adding visible gpu devices: 0
drive_visual_1      | 2020-02-11 12:58:59.532366: I tensorflow/core/common_runtime/gpu/gpu_device.cc:923] Device interconnect StreamExecutor with strength 1 edge matrix:
drive_visual_1      | 2020-02-11 12:58:59.532467: I tensorflow/core/common_runtime/gpu/gpu_device.cc:929]      0 
drive_visual_1      | 2020-02-11 12:58:59.532529: I tensorflow/core/common_runtime/gpu/gpu_device.cc:942] 0:   N 
drive_visual_1      | 2020-02-11 12:58:59.532668: I tensorflow/core/common_runtime/gpu/gpu_device.cc:1053] Created TensorFlow device (/job:localhost/replica:0/task:0/device:GPU:0 with 1401 MB memory) -> physical GPU (device: 0, name: GeForce GTX 1050, pci bus id: 0000:01:00.0, compute capability: 6.1)
drive_visual_1      | [INFO] [drive]: Model loaded: /lanefollowing/ros2_ws/src/lane_following/model/model.h5

In simulator I can see BridgeStatus:connected, but no activity, nothing changes.
Is it because of my GPU performance not enough? Or I should wait for some training step?
Or I should choose some another map?
I used BorregasAve (with Autoware)

[daviduhm]

Your GPU looks ok and was able to load the model successfully because the last log message says so. What's your current sensor setup for your vehicle? Currently, the lane following drive node subscribes to a topic named "/simulator/sensor/camera/center/compressed" to receive camera images from simulator. Also, make sure that you have a bridge setup as ros2 since lane following uses ros2. Once you get images from simulator, you'll get something like below:

The model then takes subscribed images and predicts steering commands. Unfortunately, our simulator code has changed its logic for taking steering commands recently, and this lane following repo hasn't been synced with that yet. You won't be able to drive and follow lane because of that issue. This task is in our backlogs and will be available soon.

[AlexandrZabolotny]

@daviduhm Have you solved this problem yet?