https://www.youtube.com/watch?v=dxwwNacez7o
installation procedure
1. ubuntu 20.04
2. ros2 galactic debian installation (rosdep update --include-eol-distro)
3. install cuda/cudnn/tensorrt
4. install dependencies ( https://autowarefoundation.github.io/autoware-documentation/galactic/installation/autoware/source-installation/)
5. git clone autoware (original) + git checkout galactic
6. git clone openpalnner(git clone https://github.com/ZATiTech/open_planner.git) -> autowre/src/universe/external
7. increase swap memory ( https://kibua20.tistory.com/40 )
sudo swapoff -v /swapfile
sudo fallocate -l 8G /swapfile
sudo chmod 600 /swapfile
sudo mkswap /swapfile
sudo swapon /swapfile
9. git clone op_agent, op_bridge, scenario_runner + git checkout ros2
10. vi op_carla/op_bridge/op_scripts/run_exploration_mode_ros2.sh
SIMULAOTR_LOCAL_HOST="localhost"
FREE_MAP_NAME
11. modify autoware/src/launcher/autoware_launch/autoware_launch/launch/autoware.launch.xml
<!-- Modules to be launched -->
<arg name="launch_carla_interface" default="true" description="convert carla sensor data to autoware suitable format"/>
launch_sensing_driver default="true"->"false"
<!-- Global parameters -->
use_sim_time default="false"->"true"
<!-- CARLA -->
<group if="$(var launch_carla_interface)">
<node pkg="carla_pointcloud" exec="carla_pointcloud_node" name="carla_pointcloud_interface" output="screen"/>
</group>
12. modify autoware/src/sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_launch/launch/gnss.launch.xml
coordinate_system default="1" -> "2"
add <arg name="palne_zone" default="0"/>
13. Download map data and rename
.../..../Town01/lanelet2_map.osm, pointcloud_map.pcd
14. modify ~/op_carla/op_agent/start_ros2.sh
map path .. etc
15. Install op_bridge, op_agent README.md
# OP_BRIDGE
export CARLA_ROOT=/home/sure/carla
export SCENARIO_RUNNER_ROOT=/home/sure/op_carla/scenario_runner
export LEADERBOARD_ROOT=/home/sure/op_carla/op_bridge
export TEAM_CODE_ROOT=/home/sure/op_carla/op_agent
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/util
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/agents
export PYTHONPATH=$PYTHONPATH:${CARLA_ROOT}/PythonAPI/carla/dist/carla-0.9.14-py3.8-linux-x86_64.egg
16. colcon build (add option --parallel-workers 16)
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 16
issues
1. Swap Memory Issue -> Increase swap
2. setuptools issue -> change setuptools version (47.3.1)
3.
No module named 'py_trees' -> pip3 install py_trees
No module named 'networkx' -> pip3 install networkx
No module named 'tabulate' -> pip3 install tabulate
No module named 'transforms3d' -> pip3 install transform3d
No module named 'sensor_msgs_py' -> sudo apt install ros-galactic-sensor-msgs-py
ModuleNotFoundError: No module named 'autoware_auto_vehicle_msgs' !!!!!??!?!? => source autoware/install/setup.bash
sure@carlaserver:~/op_carla/op_bridge/op_scripts$ ./run_exploration_mode_ros2.sh
Traceback (most recent call last):
File "/home/sure/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 205, in <module>
main()
File "/home/sure/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 193, in main
agent_handler = AgentHandler(world_handler)
File "/home/sure/op_carla/op_bridge/op_bridge/op_bridge_ros2.py", line 136, in __init__
module_agent = importlib.import_module(module_name)
File "/usr/lib/python3.8/importlib/__init__.py", line 127, in import_module
return _bootstrap._gcd_import(name[level:], package, level)
File "<frozen importlib._bootstrap>", line 1014, in _gcd_import
File "<frozen importlib._bootstrap>", line 991, in _find_and_load
File "<frozen importlib._bootstrap>", line 975, in _find_and_load_unlocked
File "<frozen importlib._bootstrap>", line 671, in _load_unlocked
File "<frozen importlib._bootstrap_external>", line 848, in exec_module
File "<frozen importlib._bootstrap>", line 219, in _call_with_frames_removed
File "/home/sure/op_carla/op_bridge/op_bridge/op_ros2_agent.py", line 40, in <module>
from autoware_auto_vehicle_msgs.msg import ControlModeReport, GearReport, SteeringReport, TurnIndicatorsReport, HazardLightsReport, VelocityReport
ModuleNotFoundError: No module named 'autoware_auto_vehicle_msgs'-> source autoware
4. cannot set goal in rviz -> process 12
5. not engage
[system_error_monitor-21] [ERROR] [1674604360.652107454] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674604360.652137741] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy]: [Single Point Fault]: ellipse size is over the expected range
[system_error_monitor-21] [ERROR] [1674604360.652144002] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy_lateral_direction]: [Single Point Fault]: ellipse size along lateral direction is over the expected range
[system_error_monitor-21] [ERROR] [1674604360.652148451] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674604360.652151967] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: OK
[system_error_monitor-21] [ERROR] [1674604360.652155594] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error
[ndt_scan_matcher-37] [WARN] [1674604360.761824604] [localization.pose_estimator.ndt_scan_matcher]: Nearest Voxel Transformation Likelihood is below the threshold. Score: 0.000000, Threshold: 2.300000
[ndt_scan_matcher-37] [WARN] [1674604360.761882423] [localization.pose_estimator.ndt_scan_matcher]: Not Converged
[component_container-67] [INFO] [1674604360.765383071] [control.operation_mode_transition_manager]: Engage unavailable: closest point not found
[lidar_centerpoint_node-47] [WARN] [1674604360.766804769] [lidar_centerpoint]: No detected boxes.change gnss.launch.xml, sensors_calibration.yaml and sensor__kit_calibration.yaml ?
which sensors_calibration.yaml?
/home/sure/autoware/src/sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_description/config/sensors_calibration.yaml <-
/home/sure/autoware/src/sensor_kit/external/awsim_sensor_kit_launch/awsim_sensor_kit_description/config/sensors_calibration.yaml
/home/sure/autoware/src/param/autoware_individual_params/individual_params/config/default/sample_sensor_kit/sensors_calibration.yaml
/home/sure/autoware/install/individual_params/share/individual_params/config/default/sample_sensor_kit/sensors_calibration.yaml
/home/sure/autoware/install/awsim_sensor_kit_description/share/awsim_sensor_kit_description/config/sensors_calibration.yaml
/home/sure/autoware/install/sample_sensor_kit_description/share/sample_sensor_kit_description/config/sensors_calibration.yaml
which sensor__kit_calibration.yaml?
./autoware/src/sensor_kit/sample_sensor_kit_launch/sample_sensor_kit_description/config/sensor_kit_calibration.yaml <-
./autoware/src/sensor_kit/external/awsim_sensor_kit_launch/awsim_sensor_kit_description/config/sensor_kit_calibration.yaml
./autoware/src/param/autoware_individual_params/individual_params/config/default/sample_sensor_kit/sensor_kit_calibration.yaml
./autoware/install/individual_params/share/individual_params/config/default/sample_sensor_kit/sensor_kit_calibration.yaml
./autoware/install/awsim_sensor_kit_description/share/awsim_sensor_kit_description/config/sensor_kit_calibration.yaml
./autoware/install/sample_sensor_kit_description/share/sample_sensor_kit_description/config/sensor_kit_calibration.yaml
-> https://github.com/hatem-darweesh/op_bridge/issues/8#issuecomment-1319072891
Import Issues with Carla Simulator 0.9.13 release · Issue #8 · hatem-darweesh/op_bridge
Hi @hatem-darweesh I am following your tutorial: Autoware Universe with CARLA My OS is ubuntu 20.04 and I have CARLA 0.9.13 version installed at: I am having issues to run the /run_exploration_mode...
github.com
base_link:
sensor_kit_base_link:
x: 0.0
y: 0.0
z: 1.6
roll: 0.0
pitch: 0.0
yaw: 0.0
velodyne_rear_base_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
sensor_kit_base_link:
camera0/camera_link:
x: 0.7
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
camera1/camera_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
camera2/camera_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
camera3/camera_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
camera4/camera_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
camera5/camera_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
traffic_light_right_camera/camera_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
traffic_light_left_camera/camera_link:
x: 0.0
y: 0.0
z: 0.0
roll: 0.0
pitch: 0.0
yaw: 0.0
velodyne_top_base_link:
x: 0.0
y: 0.0
z: 0.8
roll: 0.0
pitch: 0.0
yaw: 0.0
velodyne_left_base_link:
x: -0.5
y: 0.0
z: 0.8
roll: 0.0
pitch: 0.0
yaw: 0.0
velodyne_right_base_link:
x: 0.5
y: 0.0
z: 0.8
roll: 0.0
pitch: 0.0
yaw: 0.0
gnss_link:
x: 0.0
y: 0.0
z: 0.8
roll: 0.0
pitch: 0.0
yaw: 0.0
tamagawa/imu_link:
x: 0.0
y: 0.0
z: 0.8
roll: 0.0
pitch: 0.0
yaw: 0.0
diff
Single Point Fault]
[system_error_monitor-21] [ERROR] [1674779062.756403473] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy]: [Single Point Fault]: ellipse size is over the expected range
[system_error_monitor-21] [ERROR] [1674779062.756407812] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy_lateral_direction]: [Single Point Fault]: ellipse size along lateral direction is over the expected range
[system_error_monitor-21] [ERROR] [1674779062.756412190] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779062.756416307] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779062.756420816] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779067.714125407] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779067.714155363] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779067.714160543] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779067.714163829] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779067.714167686] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy]: [Single Point Fault]: ellipse size is over the expected range
[system_error_monitor-21] [ERROR] [1674779067.714172044] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy_lateral_direction]: [Single Point Fault]: ellipse size along lateral direction is over the expected range
[system_error_monitor-21] [ERROR] [1674779067.714177795] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779067.714180189] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779067.714182985] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779072.806419981] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779072.806452412] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779072.806459245] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779072.806490724] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779072.806495323] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy]: [Single Point Fault]: ellipse size is over the expected range
[system_error_monitor-21] [ERROR] [1674779072.806499841] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy_lateral_direction]: [Single Point Fault]: ellipse size along lateral direction is over the expected range
[system_error_monitor-21] [ERROR] [1674779072.806504420] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779072.806508207] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779072.806512225] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error
[ndt_scan_matcher-37] [WARN] [1674779073.998581442] [localization.pose_estimator.ndt_scan_matcher]: Validation error. The reference time is 353.450005[sec], but the target time is 0.000000[sec]. The difference is 353.450005[sec] (the tolerance is 1.000000[sec]).
[ndt_scan_matcher-37] [WARN] [1674779073.998626697] [localization.pose_estimator.ndt_scan_matcher]: Validation error. The distance from reference position to target position is 242.649440[m] (the tolerance is 10.000000[m]).
[ndt_scan_matcher-37] [WARN] [1674779073.998635384] [localization.pose_estimator.ndt_scan_matcher]: Validation error.
[system_error_monitor-21] [WARN] [1674779074.588552953] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy]: [Latent Fault]: Warning
[system_error_monitor-21] [WARN] [1674779074.588583310] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy]: [Latent Fault]: ellipse size is within the expected range
[system_error_monitor-21] [WARN] [1674779074.588588339] [system_error_monitor /autoware/localization/performance_monitoring/localization_accuracy/localization_error_monitor: localization_accuracy_lateral_direction]: [Latent Fault]: ellipse size along lateral direction is too large
[system_error_monitor-21] [ERROR] [1674779077.958063341] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779077.958097345] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_control_command_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779077.958105641] [system_error_monitor /autoware/control/autonomous_driving/node_alive_monitoring/topic_status/topic_state_monitor_trajectory_follower_control_cmd: control_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779077.958111341] [system_error_monitor /autoware/planning/node_alive_monitoring]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779077.958117944] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_mission_planning_route: planning_topic_status]: [Single Point Fault]: Error
[system_error_monitor-21] [ERROR] [1674779077.958124055] [system_error_monitor /autoware/planning/node_alive_monitoring/topic_status/topic_state_monitor_scenario_planning_trajectory: planning_topic_status]: [Single Point Fault]: Error
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