Autoware failed to launch using the launch GUI with a custom vehicle model configured in a Docker container.

[sourabh-prasad]

I built a docker file to use autoware along with autoware lauch gui(some changes) and custom vehicle model, to use along with custom vehicle models. But while launching the autoware from autoware lauch gui (running in container), it's showing error like

Autoware: [ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'loadtruck_vehicle_description' not found, searching: ['/opt/install', '/opt/autoware', '/opt/ros/humble']"
Autoware ERROR: [ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'loadtruck_vehicle_description' not found, searching: ['/opt/install', '/opt/autoware', '/opt/ros/humble']"

The autoware successfully get launched with launch GUI when no custom vehicle model is included.

Dockerfile for reference:

# Start with Autoware universe as base
FROM ghcr.io/autowarefoundation/autoware:universe-devel

# Prevent interactive prompts during package installation
ENV DEBIAN_FRONTEND=noninteractive

# Combine RUN commands and clean up in the same layer
RUN apt-get update && apt-get -y upgrade && \
    apt-get install -y --no-install-recommends \
    curl wget git build-essential \
    libwebkit2gtk-4.1-0 libjavascriptcoregtk-4.1-0 \
    libwebkit2gtk-4.1-dev libjavascriptcoregtk-4.1-dev \
    libsoup-3.0-0 libsoup-3.0-dev libsoup-3.0-common \
    pkg-config libssl-dev libglib2.0-dev \
    libgdk-pixbuf2.0-dev libgtk-3-dev \
    libayatana-appindicator3-dev unzip python3-pip \
    ros-humble-ament-cmake-auto && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Install Rust
RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --default-toolchain 1.72.0 && \
    . $HOME/.cargo/env
ENV PATH="/root/.cargo/bin:${PATH}"

# Install Node.js and pnpm
RUN curl -fsSL https://deb.nodesource.com/setup_16.x | bash - && \
    apt-get update && \
    apt-get install -y nodejs && \
    npm install -g n pnpm && \
    n stable && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# Set up Autoware map
WORKDIR /root

RUN pip install --no-cache-dir gdown && \
    mkdir -p autoware_map && \
    gdown -O autoware_map/ 'https://docs.google.com/uc?export=download&id=1499_nsbUbIeturZaDj7jhUownh5fvXHd' && \
    unzip -d ./autoware_map autoware_map/sample-map-planning.zip && \
    rm autoware_map/sample-map-planning.zip
 
# Set up modified lauch GUI application
WORKDIR /app
RUN git clone https://github.com/mustaeen-7/custom_alg.git . && \
    pnpm install


# Set up vehicle package
WORKDIR /opt/autoware

RUN wget custom_vehicle_models_zip && \
    unzip loadtruck_vehicle_pkg.zip -d . && \
    rm loadtruck_vehicle_pkg.zip

# Set up directory structure and copy files

RUN mkdir -p /opt/autoware/src/vehicle/loadtruck_vehicle_launch/ && cp -r /opt/autoware/loadtruck_vehicle_pkg/loadtruck_vehicle_launch/* /opt/autoware/src/vehicle/loadtruck_vehicle_launch

RUN mkdir -p /opt/autoware/src/vehicle/loadtruck_vehicle_description/ && cp -r /opt/autoware/loadtruck_vehicle_pkg/loadtruck_vehicle_description/* /opt/autoware/src/vehicle/loadtruck_vehicle_description

WORKDIR /opt/autoware/src/vehicle/

RUN source /opt/ros/humble/setup.bash && \
    cd /opt/autoware/src/vehicle && \
    export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/opt/ros/humble && \
    colcon build --packages-select loadtruck_vehicle_launch loadtruck_vehicle_description --build-base /opt/autoware/share/


RUN mkdir -p /opt/install/ && \
    cp -r /opt/autoware/* /opt/install/

RUN mkdir -p /opt/autoware/loadtruck_vehicle_launch && \
    cp -r /opt/autoware/share/loadtruck_vehicle_launch/* /opt/autoware/loadtruck_vehicle_launch/

RUN mkdir -p /opt/autoware/loadtruck_vehicle_description && \
    cp -r /opt/autoware/share/loadtruck_vehicle_description/* /opt/autoware/loadtruck_vehicle_description/


WORKDIR /app


EXPOSE 1420

CMD ["pnpm", "tauri", "dev"]

The Autoware system can successfully launch without the inclusion of a custom vehicle mode.

The additional part in the Dockefile for custom vehicle model is attached below.

# Set up vehicle package
WORKDIR /opt/autoware

RUN wget custom_vehicle_models_zip && \
    unzip loadtruck_vehicle_pkg.zip -d . && \
    rm loadtruck_vehicle_pkg.zip

# Set up directory structure and copy files

RUN mkdir -p /opt/autoware/src/vehicle/loadtruck_vehicle_launch/ && cp -r /opt/autoware/loadtruck_vehicle_pkg/loadtruck_vehicle_launch/* /opt/autoware/src/vehicle/loadtruck_vehicle_launch

RUN mkdir -p /opt/autoware/src/vehicle/loadtruck_vehicle_description/ && cp -r /opt/autoware/loadtruck_vehicle_pkg/loadtruck_vehicle_description/* /opt/autoware/src/vehicle/loadtruck_vehicle_description

WORKDIR /opt/autoware/src/vehicle/

RUN source /opt/ros/humble/setup.bash && \
    cd /opt/autoware/src/vehicle && \
    export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:/opt/ros/humble && \
    colcon build --packages-select loadtruck_vehicle_launch loadtruck_vehicle_description --build-base /opt/autoware/share/


RUN mkdir -p /opt/install/ && \
    cp -r /opt/autoware/* /opt/install/

RUN mkdir -p /opt/autoware/loadtruck_vehicle_launch && \
    cp -r /opt/autoware/share/loadtruck_vehicle_launch/* /opt/autoware/loadtruck_vehicle_launch/

RUN mkdir -p /opt/autoware/loadtruck_vehicle_description && \
    cp -r /opt/autoware/share/loadtruck_vehicle_description/* /opt/autoware/loadtruck_vehicle_description/
    

custom_vehicle_models_zip(orginally in s3) -> https://drive.google.com/file/d/1Hd_HbIE3Fqw4L4owhmRfVyabtYJINpbC/view?usp=sharing

any help would be appreciated