The Autoware Foundation
Replies: 2 comments 9 replies
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What version of autoware are you using? |
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I'm sorry for replying so late.Please forgive me.After following your suggestions,i still cannot solve the problem. |
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你编译的时候用的指令是什么，编译有没有报错？一般编译过了之后，这个节点不会报错，特别是在planning simulator 模式下 what is the compile command you used，did you encountered errors during compiling happy hacking！ |
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this is my compile command i used "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" |
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since compile passed and you have source install/setup.bash if you can provide screen cast , it can speed up our debug process |
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2024.10.23.14.19.36.webm2024.10.23.14.22.10.webmthis is my screeen cast,i have tried using official map to launch simulator. |
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this is my gdb testing. Thread 1 "pose_initialize" received signal SIGABRT, Aborted. |
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ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_ws/autoware_map/parking_lot/ vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
1729159546.0166528 [ERROR] [pose_initializer_node-52]: process has died [pid 502462, exit code -6, cmd '/home/t/autoware_ws/install/pose_initializer/lib/pose_initializer/pose_initializer_node --ros-args -r __node:=pose_initializer_node -p use_sim_time:=False -p wheel_radius:=0.235 -p wheel_width:=0.22 -p wheel_base:=1.11 -p wheel_tread:=0.9 -p front_overhang:=0.32 -p rear_overhang:=0.29 -p left_overhang:=0.0 -p right_overhang:=0.0 -p vehicle_height:=1.5 -p max_steer_angle:=0.64 --params-file /home/t/autoware_ws/install/autoware_launch/share/autoware_launch/config/localization/pose_initializer.param.yaml --params-file /tmp/launch_params_lry8bf36 --params-file /tmp/launch_params_s1_53wrz --params-file /tmp/launch_params_ciwg9d_p --params-file /tmp/launch_params_866lz7h2 --params-file /tmp/launch_params_swjezq8b --params-file /tmp/launch_params_a7qf_joy -r yabloc_align:=/localization/pose_estimator/yabloc/initializer/yabloc_align_srv -r ndt_align:=/localization/pose_estimator/ndt_align_srv -r stop_check_twist:=/sensing/vehicle_velocity_converter/twist_with_covariance -r gnss_pose_cov:=sub_gnss_pose_cov -r pose_reset:=/initialpose3d -r ekf_trigger_node:=/localization/pose_twist_fusion_filter/trigger_node -r ndt_trigger_node:=/localization/pose_estimator/trigger_node -r ~/pointcloud_map:=/map/pointcloud_map -r ~/partial_map_load:=/map/get_partial_pointcloud_map'].
1729159641.1170595 [service_log_checker-2] [ERROR] [1729159641.115653230] [system.service_log_checker]: /localization/initialize: not ready (/default_ad_api/node/localization)
1729159641.1181309 [service_log_checker-2] [ERROR] [1729159641.116110507] [system.service_log_checker]: /api/localization/initialize: status code 50001 '/localization/initialize' (/default_ad_api/node/localization)
1729159641.1183300 [service_log_checker-2] [ERROR] [1729159641.116222592] [system.service_log_checker]: /api/localization/initialize: status code 50001 '/localization/initialize' (/default_ad_api/helpers/initial_pose_adaptor)
I cannot perform initialization in both simulation and real vehicle scenarios. The real vehicle is equipped with a LiDAR and IMU, while another industrial computer can successfully initialize. What could be the problem, and how can I modify it? Thank you very much!
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