scenario-simulation/planning-simulation/random-test-simulation can't work

[major2012ye]

Hello everyone,I tested the ### https://github.com/autowarefoundation/autoware-documentation/blob/main/docs/tutorials/scenario-simulation/planning-simulation/random-test-simulation.md ,but it stucks on this.the enviroment is amd64,ubuntu22.04,and autoware.universe.any help will be appreciated.

ye@ye-ye:~/autoware$ ros2 launch random_test_runner random_test.launch.py
architecture_type:=awf/universe
sensor_model:=sample_sensor_kit
vehicle_model:=sample_vehicle
[INFO] [launch]: All log files can be found below /home/ye/.ros/log/2023-05-26-11-43-21-554148-ye-ye-5409
[INFO] [launch]: Default logging verbosity is set to INFO
Value of simulator_type: ['simple_sensor_simulator', 'unity']
Value of architecture_type: ['awf/auto', 'awf/universe', 'tier4/proposal']
Test param file ''
Autoware architecture 'awf/universe'
Vehicle info parameters file supplied: '/home/ye/autoware/install/sample_vehicle_description/share/sample_vehicle_description/config/vehicle_info.param.yaml'. Parameters passed there override passed via arguments
Simulator model parameters file supplied: '/home/ye/autoware/install/sample_vehicle_description/share/sample_vehicle_description/config/simulator_model.param.yaml'. Parameters passed there override passed via arguments
Chosen simulation type simple_sensor_simulator
[INFO] [random_test_runner-1]: process started with pid [5410]
[INFO] [openscenario_visualization_node-2]: process started with pid [5412]
[INFO] [simple_sensor_simulator_node-3]: process started with pid [5414]
[random_test_runner-1] [INFO] [1685072602.137097554] [simulation.random_test_runner]: test control parameters: input dir: output dir: /tmp random test type: 0 test count 5
[random_test_runner-1] [INFO] [1685072602.154251482] [simulation.random_test_runner]: Map path found: /home/ye/autoware/install/kashiwanoha_map/share/kashiwanoha_map/map
[random_test_runner-1] [WARN] [1685072602.201954246] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[random_test_runner-1] [INFO] [1685072602.560808355] [simulation.random_test_runner]: Test suite parameters ego_goal_lanelet_id: -1 ego_goal_s: 0 ego_goal_partial_randomization: false ego_goal_partial_randomization_distance: 20 npcs_count: 10 npc_min_speed: 0.5 npc_max_speed: 3 npc_min_spawn_distance_from_ego: 10 npc_max_spawn_distance_from_ego: 100 name: random_test map_name: kashiwanoha_map
[random_test_runner-1] [INFO] [1685072602.560832875] [simulation.random_test_runner]: Test case 0 parameters:
[random_test_runner-1] [INFO] [1685072602.560836348] [simulation.random_test_runner]: Test case 1 parameters:
[random_test_runner-1] [INFO] [1685072602.560838771] [simulation.random_test_runner]: Test case 2 parameters:
[random_test_runner-1] [INFO] [1685072602.560841078] [simulation.random_test_runner]: Test case 3 parameters:
[random_test_runner-1] [INFO] [1685072602.560843320] [simulation.random_test_runner]: Test case 4 parameters:
[random_test_runner-1] [INFO] [1685072602.560945926] [simulation.random_test_runner]: Generating test 1/5
[random_test_runner-1] [INFO] [1685072602.560971227] [simulation.random_test_runner]: Goal randomization: full
[random_test_runner-1] [INFO] [1685072602.561492042] [simulation.random_test_runner]: Generating test 2/5
[random_test_runner-1] [INFO] [1685072602.561508778] [simulation.random_test_runner]: Goal randomization: full
[random_test_runner-1] [INFO] [1685072602.561823129] [simulation.random_test_runner]: Generating test 3/5
[random_test_runner-1] [INFO] [1685072602.561832194] [simulation.random_test_runner]: Goal randomization: full
[random_test_runner-1] [INFO] [1685072602.561859952] [simulation.random_test_runner]: Goal randomization: full
[random_test_runner-1] [INFO] [1685072602.562202929] [simulation.random_test_runner]: Generating test 4/5
[random_test_runner-1] [INFO] [1685072602.562214608] [simulation.random_test_runner]: Goal randomization: full
[random_test_runner-1] [INFO] [1685072602.562611536] [simulation.random_test_runner]: Generating test 5/5
[random_test_runner-1] [INFO] [1685072602.562623495] [simulation.random_test_runner]: Goal randomization: full
[random_test_runner-1] [INFO] [1685072602.562854437] [simulation.random_test_runner]: Saving yaml: /tmp/result.yaml
[random_test_runner-1] [INFO] [1685072602.563097404] [simulation.random_test_runner]: Running test 1/5
[random_test_runner-1] [INFO] [1685072602.563121394] [simulation.random_test_runner]: Test description: ego_start_position: lanelet_id: 34705, s: 38.36245415838085, offset: 0, rpy: (x, y, z) : (0, 0, 0) ego_goal_position: lanelet_id: 34753, s: 6.01560397430735, offset: 0, rpy: (x, y, z) : (0, 0, 0) ego_goal_pose: position: (x, y, z), (3780.5835712375033, 73707.43781035047, 1.5303913460406577), orientation (x, y, z, w), (0, 0, 0.6174674841000987, 0.7865964060934263)
[random_test_runner-1] npc_descriptions:[0]: name: npc0, start_position: lanelet_id: 34420, s: 3.7717783625942816, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 2.029515294622036
[random_test_runner-1] [1]: name: npc1, start_position: lanelet_id: 34741, s: 42.98234427846869, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 2.007153021504938
[random_test_runner-1] [2]: name: npc2, start_position: lanelet_id: 34642, s: 4.079016029567237, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 1.336359665777716
[random_test_runner-1] [3]: name: npc3, start_position: lanelet_id: 34786, s: 3.1993455497176204, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 2.9102428208533624
[random_test_runner-1] [4]: name: npc4, start_position: lanelet_id: 34420, s: 16.7629154702937, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 0.8179077311672296
[random_test_runner-1] [5]: name: npc5, start_position: lanelet_id: 34678, s: 11.98223309384625, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 1.8809434006710082
[random_test_runner-1] [6]: name: npc6, start_position: lanelet_id: 34705, s: 14.381537078322634, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 1.0599760617105527
[random_test_runner-1] [7]: name: npc7, start_position: lanelet_id: 34753, s: 1.3064050968833438, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 1.1007253185071995
[random_test_runner-1] [8]: name: npc8, start_position: lanelet_id: 34744, s: 6.171881094205869, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 2.751147750874793
[random_test_runner-1] [9]: name: npc9, start_position: lanelet_id: 34693, s: 6.45276188911798, offset: 0, rpy: (x, y, z) : (0, 0, 0), speed: 1.0149163471730813
[random_test_runner-1]

[J-xinyu]

I encountered the same problem, did you solve it?

[major2012ye]

解决了一部分问题-------- 原始邮件 --------发件人： 吉新宇 ***@***.***>日期： 2023年7月27日周四 16:39收件人： autowarefoundation/autoware ***@***.***>抄送： major2012ye ***@***.***>, Author ***@***.***>主 题： Re: [autowarefoundation/autoware] scenario-simulation/planning-simulation/random-test-simulation can't work (Discussion #3527) I encountered the same problem, did you solve it? —Reply to this email directly, view it on GitHub, or unsubscribe.You are receiving this because you authored the thread.Message ID: ***@***.***>

[kyoichi-sugahara]

@major2012ye
It seems to be recognized as a same issue in the scenario_simulator_v2 repository.
Since @YoshinoriTsutake has put it in the backlog as a planned task for future efforts, please wait.

[major2012ye]

ok，thanks for the reply.

[wbq0206]

If you have the conditions to create a map, you can try changing the map.

[hakuturu583]

This problem is working on this PR.

[hakuturu583]

The PR was merged!