How to resolve the message "The GNSS pose has not arrived".

[KJM-N]

The robot I am trying to move only has LiDAR and not GNSS. Therefore, I have commented out the GNSS driver in sensing.launch.xml."
I would like to know how to resolve the message "The GNSS pose has not arrived"!

[SakodaShintaro]

That message is output in the initial position estimation with the following code
https://github.com/autowarefoundation/autoware.universe/blob/daf082474c3e286949f132ed7b0b5ad02b65d224/localization/pose_initializer/src/pose_initializer/gnss_module.cpp#L37

Therefore, one solution is to comment out this code and rebuild the pose_initializer package.

When controlling from launch.xml, if the arg gnss_enabled passed to pose_initializer is set to false, a different error message may appear, but "The GNSS pose has not arrived" should not appear.

To change gnss_enabled, currently you need to directly change the following file in autoware.universe.
https://github.com/autowarefoundation/autoware.universe/blob/daf082474c3e286949f132ed7b0b5ad02b65d224/launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

We are planning to make it possible to change gnss_enabled from the repository corresponding to autoware_launch.

I hope this information helps you.

[SakodaShintaro]

I don't know if it's correct, but I'd like to point out something that concerns me.

"[localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initialized"

I noticed the above error message. EKF may be not activated.
I think, in that case, the tf of map -> base_link is not output, so there is no way to convert the LiDAR point cloud to base_link, and it will not be output in Rviz.

Since there is no gnss, I think the initial position will have to be given manually.
Have you tried entering the initial position manually in Rviz?

[KJM-N]

Self-location estimation was done! Thank you very much.
However, when I tried autonomous driving I encountered a new problem. From the message "Autonomous is not available.", I assumed that there was a problem with the map I am using. I launched planning_simulation and when I checked the message was as follows.
'target speed > 0, but keep stop condition is met, Keep STOPPED.'
Do you know how to solve this?

Sorry for asking a different question.

[SakodaShintaro]

I'm glad that Localization worked well.

Sorry, I don't know much about planning_simulation so I can only give general advice.

From reading the code, it seems that the error message is occurring at the following location:

https://github.com/autowarefoundation/autoware.universe/blob/47f265d754ce0d691639f0dd7be480b9b861a366/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp#L627

keep_stopped_condition is defined below, and one of the conditions is m_enable_keep_stopped_until_steer_convergence, which is a parameter passed to this node (pid_longitudinal_controller), so it seems like it can be ignored by adjusting this.

https://github.com/autowarefoundation/autoware.universe/blob/47f265d754ce0d691639f0dd7be480b9b861a366/control/pid_longitudinal_controller/src/pid_longitudinal_controller.cpp#L510-L512

[KJM-N]

Thanks for your reply.
After my own tests, I found out that it is due to obstacles around the robot. When I actually simulated it on a wider road, it ran successfully.

Thank you for answering my question.

[SakodaShintaro]

Excellent!