Question on autoware_carla_interface

[Kim-mins]

Hi team,

Thank you for nice ADS! I think it is really easy to run, and good for studying ADS!

I'm currently running Autoware version 0.39.0 using the docker image here, but I failed to run co-simulation of Autoware with Carla using autoware_carla_interface.
Here's my launch.log file of the running: [launch.log]

When I run the command ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/autoware_map/Town01 vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town01 (from here) setting the map path to mine, rviz screen is loaded well, but localization fails.

I checked that the vehicle is spawned well in Carla, but it seems the connection between Autoware and Carla seems not working well, as the localization fails.
Maybe the topic names could be changed, but I cannot check it more myself.. could someone please help me?
I guess the error message below could be the cause:

[autoware_ndt_scan_matcher_node-41] [WARN] [1733882835.561259781] [localization.pose_estimator.ndt_scan_matcher]: No InputSource. Please check the input lidar topic

Thanks in advance!

[Kim-mins]

I just found that the data from topic /localization/pose_twist_fusion_filter/pose is not published. Can someone please help me?

[axoaxel]

Hi @Kim-mins,

I am also trying to get the autoware_carla_interface to run, where you able to let co-simulator start?

I am somewhat stuck and I feel I miss something to let everything run.
I followed the instructions from https://github.com/autowarefoundation/autoware.universe/tree/main/simulator/autoware_carla_interface

I got carla to run

./CarlaUE4.sh -quality-level=Low

I got the autoware to run with

ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/maps-folder/map_data/Town10HD vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town10HD

then I started the carla_autoware_interface (this step I am not sure about, as it is not documented)

ros2 launch autoware_carla_interface autoware_carla_interface.launch.xml (update to run on Town10)

then I get an error from autoware_carla_interface No Publisher for sensor.other.gnss Sensor

And I cannot really get going with the co-simulation. The Autoware interface buttons appear freezed, if I click init gnss nothing happens. Do you have any idea what am I doing wrong?

Thanks in advance.

[maoningge]

Hello, @axoaxel
Have you managed to solve this issue?
If I turn to map Town10HD, I have the similar problem.

When I run the following command:
ros2 launch autoware_launch e2e_simulator.launch.xml map_path:=$HOME/maps-folder/map_data/Town10HD vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit simulator_type:=carla carla_map:=Town10HD
I got this error:
Could not find a connection between 'map' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.

Additionally, when I run:
ros2 launch autoware_carla_interface autoware_carla_interface.launch.xml
I got the same problem No Publisher for sensor.other.gnss Sensor

It also seems that the initial position of the car is incorrect.
Have you encountered anything similar or found a solution?

[WZZan]

I’m facing the same problem. I found that my issue is related to ring_outlier_filter. By skipping this step, I was able to get localization working, but I don’t think this is a good solution.

Did you find a better way to solve this problem? I’d really appreciate any insights you could share!

Thanks!

[axoaxel]

Hi all, in the end I managed to have autoware running with carla successfully.

There were multiple things that fixed the issue.

1. Have enough GPU memory available >8GB.
2. fix(autoware_carla_interface): fix lidar topic name autoware_universe#9645 make sure that this PR is implemented in your codebase
3. https://autowarefoundation.github.io/autoware-documentation/main/installation/additional-settings-for-developers/network-configuration/ make sure to have followed the networking setup steps

This worked in my case, hoe this can help you as well. There is also a discord server where you might get support from the developers.

[maoningge]

Thanks! This works for me. I used this release version:0.41.2

[Narzinbai]

Hi @axoaxel
im still facing the same issue even i have checked my file it does have the change topic but still im getting gnss sensor issue

[Narzinbai]

autoware_pose_initializer_node-39] [INFO] [1748326345.816905652] [localization.util.pose_initializer]: Call align server.
[autoware_ndt_scan_matcher_node-37] [WARN] [1748326345.819232828] [localization.pose_estimator.ndt_scan_matcher]: No InputSource. Please check the input lidar topic
[service_log_checker_node-5] [ERROR] [1748326345.820390780] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/localization/util/pose_initializer)
[service_log_checker_node-5] [ERROR] [1748326345.821387349] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
[service_log_checker_node-5] [ERROR] [1748326345.821458125] [system.service_log_checker]: /api/localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
[service_log_checker_node-5] [ERROR] [1748326345.821495058] [system.service_log_checker]: /api/localization/initialize: status code 4 'align server failed.' (/localization/util/default_adapi/helpers/autoware_automatic_pose_initializer)
[traffic_light_map_based_detector_node-56] [WARN] [1748326346.165291196] [perception.traffic_light_recognition.traffic_light.detection.traffic_light_map_based_detector]: cannot get transform from map frame to camera frame
[component_container_mt-63] [INFO] [1748326346.438534491] [planning.mission_planning.mission_planner]: waiting odometry... Route API is not ready.
[autoware_pose_initializer_node-39] [INFO] [1748326346.814746349] [localization.util.pose_initializer]: EKF triggering service is available!
[autoware_pose_initializer_node-39] [INFO] [1748326346.815384348] [localization.util.pose_initializer]: EKF Deactivation succeeded
[autoware_pose_initializer_node-39] [INFO] [1748326346.815672812] [localization.util.pose_initializer]: NDT triggering service is available!
[autoware_pose_initializer_node-39] [INFO] [1748326346.816043170] [localization.util.pose_initializer]: NDT Deactivation succeeded
[autoware_pose_initializer_node-39] [INFO] [1748326346.816075026] [localization.util.pose_initializer]: fit_target: pointcloud_map, frame: map
[autoware_pose_initializer_node-39] [INFO] [1748326347.122695316] [localization.util.pose_initializer]: Call align server.
[autoware_ndt_scan_matcher_node-37] [WARN] [1748326347.123936311] [localization.pose_estimator.ndt_scan_matcher]: No InputSource. Please check the input lidar topic
[service_log_checker_node-5] [ERROR] [1748326347.124269724] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/localization/util/pose_initializer)
[service_log_checker_node-5] [ERROR] [1748326347.124743441] [system.service_log_checker]: /localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
[service_log_checker_node-5] [ERROR] [1748326347.124802231] [system.service_log_checker]: /api/localization/initialize: status code 4 'align server failed.' (/adapi/node/localization)
[service_log_checker_node-5] [ERROR] [1748326347.124876012] [system.service_log_checker]: /api/localization/initialize: status code 4 'align server failed.' (/localization/util/default_adapi/helpers/autoware_automatic_pose_initializer)
[autoware_ekf_localizer_node-41] [WARN] [1748326347.762849723] [localization.pose_twist_fusion_filter.ekf_localizer]: The node is not activated. Provide initial pose to pose_initializer

getting these errors and warning while running