Autoware ROSBAG Demo doesn't work as expected
Hi guys, i'm trying to create a ndt_mapping using our bag file, but isn't successful.
First, according to this page (here)
- Go to Simulation tab and select arosbag
- Click "Play" and click "Pause
- Click Computing tab and select ndt_mapping
- Click RViz button
- Go back to Simulation tab and click Pause to start mapping
And no point cloud is shown in rviz.
I test the ROSBAG Demo according to this page (here)
And no point cloud is shown in rviz, too.
I using ubuntu 18.04/melodic Autoware:1.12 (use source install)
To visualize using rviz, you should set TFs properly. I guess this is the cause.
Could you try these additional steps?
ndt_mapping
If not resolved, please give us these information.
rosrun tf view_frames
(frames.pdf)@scarlet191101 Have you solved this problem?
I don’t have much time to try recently.
Click "TF" I have tried, but it is not effective
I don’t know why I often crash when I last tested.
I will test it when I have time.
Thank you~
same issue as above. I tried your suggestions but got this error when relaunching MAP.
RLException: while processing /home/<myname>/.autoware/data/tf/tf.launch: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/home/<myname>/.autoware/data/tf/tf.launch'
answers to your questions above. 1) dot - graphviz version 2.40.1 (20161225.0304)
Detected dot version 2.40 frames.pdf generated I don't know how to attach a file here but here is a cut and paste of the .pdf. It shows world connected to map and base_link connected to velodyne.
Recorded at time: 1427157851.432 world base_link Broadcaster: /world_to_map Average rate: 99.505 Hz Most recent transform: 1573667449.140 ( -146509597.709 sec old) Buffer length: 4.985 sec map Broadcaster: /base_link_to_localizer Average rate: 99.533 Hz Most recent transform: 1573667449.141 ( -146509597.710 sec old) Buffer length: 4.983 sec velodyne
2) don ...(more)
3) Rviz error: TF: No transform from [base_link] to frame [world] No transform from [velodyne] to frame [world] Points Raw: For frame [velodyne]: No transform to fixed frame [world]. TF error: [Lookup would require extrapolation into the past. Requested time 1427157850.433733120 but the earliest data is at time 1573666846.142417109, when looking up transform from frame [velodyne] to frame [world]]
@avdev Thank you for giving the information. If possible, could you upload the data to Google Drive or some online storage services and share the link?
As for the error, I think the cause is you are launching nodes BEFORE starting rosbag play. When we play rosbag, rosparam
use_sim_time
will be true. We need to launch nodes after that in order to use the simulation time.Kenji-
Thanks for the feedback.
I tired it again making sure to start the rosbag play before launching the map node. I am not sure how to check the use_sim_time.
Here are the screen shots and .pdf you asked for. https://drive.google.com/drive/folder...
A second problem that I did not mention earlier is that RuntimeManager has screen tearing making it hard to do more than 2 steps. Any ideas there?
also I did not find the tf.launch in sample moriyama data but used this instead for #2 in your suggestions. /home/<username>/autoware.ai/src/autoware/documentation/autoware_quickstart_examples/launch/tf_local.launch
@avdev Thank you for the additional information.
It's automatically set if you use
runtime_manager
. This message will be shown in the console:['rosparam', 'set', '/use_sim_time', 'true']
.It's a known issue in Autoware.AI v1.12 and currently fixed. https://gitlab.com/autowarefoundation... There are 3 options to fix this. 1. Use
master
instead of v1.12 2. Apply patch toruntime_manager
according to the MR 3. Wait until v1.13 is released (the beginning of December)Please see this page carefully. https://gitlab.com/autowarefoundation...
You can download the
tf.launch
with map files from this link.1. Download the sample 3D pointcloud/vector map data. [link]
Screen tearing is fixed when using the "master" branch. I now have tf.launch and reference it in TF map. As well as clicking TF in Setup. But still no RViz display. See screenshots from _191121.
https://drive.google.com/open?id=13_i...
Could you show me the output of
rosnode list
? I think you forgot runningndt_mapping
(or,ndt_matching
). It's publishing the TF betweenmap
tobase_link
./base_link_to_localizer /play_1574545125653620476 /rosout /runime_manager_2761_1574544625473 /rviz_1574544661393343287
still no point cloud in RViz. I tried ndt_mapping, ndt_matching, and both together, all with the TF clicked on setup and map tabs.
Probably it's not working. You need to publish PointCloud to make
ndt_*
work. Could you record your operation video?Kenji - I really appreciate your help.
I am not sure how to publish PointCloud.
https://drive.google.com/open?id=1fkE... Link contains the video (Screencast 2019-11-24 10:43:49.mp4) and frames_191124.pdf.
rosnode list produced this... /base_link_to_localizer /joint_state_publisher /play_1574609981197388211 /robot_state_publisher /rosout /runime_manager_7398_1574609949157 /rviz_1574609986881583137
Oh, I'm sorry, there was a mistake. When you use
ndt_mapping
, you don't need PointCloud because you will create it withndt_mapping
. So, you need to check why it's not running and not found inrosnode list
. Are there any messages printed your runtime_manager's terminal when you activate the checkbox of ndt_mapping?By the way, you can publish PointCloud just by selecting the PointCloud file, which is included in sample_moriyama_data.tar.gz, in
Map
tab. To check published correctly, runrostopic echo /poits_map
.@avdev I've checked your video, thank you very much for taking it! I found there was an error message
RLException: [ndt_mapping]...
at around 3:30. It's probably becausendt_mapping.launch
was not found in your built files.Can you
roscd lidar_localizer
, and is there~/autoware.ai/install/.../lidar_localizer/launch/ndt_mapping.launch
?Could you let me know the result of these commands?
sudo updatedb locate ndt_mapping.launch
I went to map tab and loaded 1 of the many .pcd files in the /.autoware/data/map/pointcloud_map/bin_Laser-00169_-00868.pcd
points did not appear in RViz
$ rostopic echo /points_map WARNING: no messages received and simulated time is active. Is /clock being published?
$ roscd lidar_localizer roscd: No such package/stack 'lidar_localizer'
The only location of the files is in home/autoware.ai/src/autoware/core_perception/lidar_localizer/launch/ndt.mapping.launch
$ sudo updatedb $ locate ndt_mapping.launch /home/todd/autoware.ai/src/autoware/core_perception/lidar_localizer/launch/approximate_ndt_mapping.launch /home/todd/autoware.ai/src/autoware/core_perception/lidar_localizer/launch/ndt_mapping.launch
$ sudo updatedb locate ndt_mapping_launch updatedb: unexpected operand on command line
Sorry for the confusion. These are two commands. $ sudo updatedb # Updateting index, actually not necessary, but just to be sure $ locate ndt_mapping.launch # List the paths of files named ndt_mapping.launch -> autoware.ai/install/lidar_localizer/share/lidar_localizer/launch/ndt_mapping.launch
However, it became non-necessary now, because I can guess your status from other results.
Also, seeing your
roscd
result, you didn't build Autoware.AI correctly. Please try these commands and check if built correctly. (stderr output is okay)If you can't build, please check the dependencies are installed.
Thanks Kenji. I am new to Ubuntu and new to Autoware.
Tried to build autoware 3 more times and the third was successful. Here are the videos but the demo still does not show the map. They are the 2 screencasts with the date 11-25. https://drive.google.com/open?id=1fkE...