Path Planning Issue in Autoware Simulation and Real-world Execution

[chz2012]

Hello,

I am currently working with Autoware and have encountered an issue related to path planning. I followed the official tutorials to complete the vehicle and sensor model creation and the vehicle interface setup.

In simulation using the planning module, I successfully created a path on a custom point cloud map that I generated in the lab. However, when attempting to execute the same process in the real world, the path remains empty, and the vehicle cannot start moving.

Here are the key details of my setup:

• Sensors: I am using a Robosense Helios LiDAR, which I integrated based on the tutorial.

• Vehicle interface:

  • It subscribes to the /control/command/control_cmd topic.
  • It publishes to the /vehicle/status/velocity_status topic.

I suspect there might be missing or incorrect information about the sensor data or vehicle interface that I provided to Autoware, but I am not sure if this is the root cause or if there are other issues.

I have attached the following for reference:

1. Log files from the failed execution ( launch_mick_route.log ) and simulation (launch_simulation_route.log) .
   launch_mick_route.log
   launch_simulation_route.log

2. A comparison video showing the successful simulation versus the failed real-world attempt.

simulation_route.mp4

mick_route_x264.mp4

Could you please help me identify the potential issues? Any advice or guidance would be greatly appreciated.

Thank you!

[liuXinGangChina]

hi @chz2012

As far as i know， one lidar is pretty enough for autoware ，and of course a drive by wire chasis is also needed

helios 雷达足够了，你线控底盘的接口适配好了吗，我看你车速档位都没有正确显示啊

别担心，我这边开发autoware已经7年多了，有什么问题尽管问哈

心刚

have a nice day！

[chz2012]

Thank you! My chassis interface only receives speed control and provides speed feedback.

The chassis I'm using is a differential drive chassis (https://github.com/RuPingCen/mick_robot_chassis), which doesn't have components like those in a passenger car, so there are some things I don't know how to transmit to Autoware, such as hazard lights, gear status, etc.

In the How to guides Creating Vehicle Interface, there is a table that mentions many pieces of information. Could you clarify which topics are necessary, or do I need to include all of them in the interface?

If I include everything in the interface, should I provide a "fake" status for the missing information?

谢谢，我底盘接口只接收了速度控制，反馈的也是车速。因为我用的底盘是四轮差速底盘(https://github.com/RuPingCen/mick_robot_chassis )

这个底盘没有乘用车的东西，有些信息我不知道应如何传给autoware，比如应急灯，档位等。

在教程Creating vehicle interface里有一张表，提到需要很多信息，哪些话题是必要的，还是说我需要全部都写到接口中，如果全部写到接口中，我给它提供一个“假的”状态？

[liuXinGangChina]

@chz2012
明白了，你至少要提供以下信息（我按乘用车举例，差速地盘你自己举一反三哈）给aw

1. 车速
2. 档位 d p r
3. 车辆当前状态，（手动驾驶还是无人驾驶）

祝顺利！

心刚

[chz2012]

@liuXinGangChina
感谢解答！我试着加了这些内容，但是好像做出来的效果和前述视频一样。我的代码在这https://github.com/chz2012/mick_robot_vehicle_interface ,不知可否查看指正一下？🙏

档位在interface内维护了一个变量、车速是真实速度、驾驶模式我始终回传自动驾驶

此外，我这次测试遇到了新问题，是关于robosense_ros_wrapper的，有时该节点会挂掉

1732154684.5321498 [ERROR] [component_container-33]: process has died [pid 7593, exit code -11, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=pointcloud_container -r __ns:=/sensing/lidar/top/pointcloud_preprocessor -p use_sim_time:=False -p wheel_radius:=0.1 -p wheel_width:=0.05 -p wheel_base:=0.4 -p wheel_tread:=0.4 -p front_overhang:=0.12 -p rear_overhang:=0.12 -p left_overhang:=0.04 -p right_overhang:=0.04 -p vehicle_height:=0.55 -p max_steer_angle:=0.7'].

有时是丢弃数据包
1732871004.7073922 [component_container-33] [ERROR] [1732871004.706802283] [sensing.lidar.top.robosense_ros_wrapper_node]: Packet(s) dropped

这些都体现为无法在rviz2里初始化初始位姿。

再次感谢你的回答！