autoware engage is not available

[LuZhishan]

I launch the whole autoware, but the pushbutton is not available

And there is nothing usefull on screen

launch.logThere is the log file I copied from screen.
Can anyone help to see what the problem is？

[LuZhishan]

@mitsudome-r Could you help me with this problem?

[maxime-clem]

Please build and run this package (https://github.com/autowarefoundation/autoware_tools/tree/main/system/rqt_diagnostic_graph_monitor) using ros2 run rqt_diagnostic_graph_monitor rqt_diagnostic_graph_monitor. It should show you which diagnostic is preventing engaging the autonomous mode.

[LuZhishan]

Thanks for your help. I have got the rqt_diagnostic_graph_monitor result.

What do these errors mean？The frequency of the perception output is low, and the localization should be ok.

[maxime-clem]

Yes it looks like an issue with your pointcloud topic.
If you want to ignore the issue and still engage the vehicle, then you can edit the diagnostics which prevent autonomous driving. For example, you can remove - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } (l. 6) from this file: https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/system/diagnostics/perception.yaml

[LuZhishan]

Thank you very much. Your suggestion is very useful !